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Mathematical Problems in Engineering
Volume 2013, Article ID 797626, 9 pages
Research Article

Adaptive Control of MEMS Gyroscope Based on Global Terminal Sliding Mode Controller

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

Received 25 June 2013; Accepted 31 October 2013

Academic Editor: Shihua Li

Copyright © 2013 Weifeng Yan and Juntao Fei. 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 global fast terminal sliding mode control (GFTSM) is proposed for tracking control of Micro-Electro-Mechanical Systems (MEMS) vibratory gyroscopes under unknown model uncertainties and external disturbances. To improve the convergence rate of reaching the sliding surface, a global fast terminal sliding surface is employed which can integrate the advantages of traditional sliding mode control and terminal sliding mode control. It can be guaranteed that sliding surface and equilibrium point can be reached in a shorter finite time from any initial state. In the presence of unknown upper bound of system nonlinearities, an adaptive global fast terminal sliding mode controller is derived to estimate this unknown upper bound. Simulation results demonstrate that the tracking error can be attenuated efficiently and robustness of the control system can be improved with the proposed adaptive global fast terminal sliding mode control.