New Compound Fractional Sliding Mode Control and SuperTwisting Control of a MEMS Gyroscope

Abstract

This research proposes a new compound fractional sliding mode control (FOSMC) and supertwisting control (FOSMC + STC) to control a microelectromechanical systems gyroscope. A new sliding mode surface has been defined to design the proposed new sliding mode controller. The main advantages of a FOSMC are its high tracking performance and robustness against external perturbation, but creating a chattering phenomenon is its main drawback. By applying a supertwisting control (STC) method with FOSMC, the chattering phenomenon is eliminated, the singularity problem is solved, and systems robustness has significantly improved. Simulation results validate the effectiveness of the proposed control approach.