Integrated model reference adaptive control and time-varying angular rate estimation for micro-machined gyroscopes

Nan Chyuan Tsai, Chung Yang Sue

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)

Abstract

Owing to the imposed but undesired accelerations such as quadrature error and cross-axis perturbation, the micro-machined gyroscope would not be unconditionally retained at resonant mode. Once the preset resonance is not sustained, the performance of the micro-gyroscope is accordingly degraded. In this article, a direct model reference adaptive control loop which is integrated with a modified disturbance estimating observer (MDEO) is proposed to guarantee the resonant oscillations at drive mode and counterbalance the undesired disturbance mainly caused by quadrature error and cross-axis perturbation. The parameters of controller are on-line innovated by the dynamic error between the MDEO output and expected response. In addition, Lyapunov stability theory is employed to examine the stability of the closed-loop control system. Finally, the efficacy of numerical evaluation on the exerted time-varying angular rate, which is to be detected and measured by the gyroscope, is verified by intensive simulations.

Original languageEnglish
Pages (from-to)246-256
Number of pages11
JournalInternational Journal of Control
Volume83
Issue number2
DOIs
Publication statusPublished - 2010 Feb

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications

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