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Mathematical Problems in Engineering
Volume 2013, Article ID 384813, 10 pages
Research Article

Adaptive Sliding Mode Control Using Robust Feedback Compensator for MEMS Gyroscope

Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology, College of Computer and Information, Hohai University, Changzhou 213022, China

Received 2 May 2013; Revised 27 August 2013; Accepted 11 September 2013

Academic Editor: Dane Quinn

Copyright © 2013 Juntao Fei and Dan Wu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


An adaptive sliding mode control using robust feedback compensator is presented for a MEMS gyroscope in the presence of external disturbances and parameter uncertainties. An adaptive controller with a robust term is used to improve the robustness of the control system and compensate the system nonlinearities. The proposed robust adaptive control can estimate the angular velocity and all the system parameters including damping and stiffness coefficients in the Lyapunov framework. In addition, standard adaptive control scheme without robust algorithm is compared with the proposed robust adaptive scheme in the aspect of numerical simulation and algorithm derivation. Numerical simulations show that the robust adaptive control has better robustness in the presence of external disturbances than the standard adaptive control.