Design of Direct Adaptive Fuzzy Controller for MEMS Gyroscope

Abstract

In this paper, a direct adaptive fuzzy control using supervisory compensator is designed for a MEMS gyroscope. The parameters of the membership functions change according to the adaptive law for the purpose of controlling the system to track a reference trajectory. A fuzzy controller that can approximate the unknown nonlinear function and compensate the system nonlinearities is incorporated into the adaptive control scheme in the Lyapunov framework. A supervisory compensator is adopted to guarantee the stability of the closed loop system. Numerical simulations for a MEMS angular velocity sensor is investigated to verify the effectiveness of the proposed adaptive fuzzy control scheme and demonstrate the satisfactory tracking performance and robustness.