FRACTIONAL ORDER BACKSTEPPING FAST TERMINAL SLIDING MODE CONTROL FOR MICRO-ELECTRO-MECHANICAL TRIAXIAL GYROSCOPE

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FAZELI ASL SAYED BAGHER; Moosapour Seyyed Sajjad

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Journal: Modares Mechanical Engineering Year:2017 | Volume:17 | Issue:5 Page(s): 385-393

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Information Journal Paper

Title

FRACTIONAL ORDER BACKSTEPPING FAST TERMINAL SLIDING MODE CONTROL FOR MICRO-ELECTRO-MECHANICAL TRIAXIAL GYROSCOPE

Author(s)

FAZELI ASL SAYED BAGHER | Moosapour Seyyed Sajjad | Issue Writer Certificate

Keywords

SLIDING MODEQ1

FAST TERMINALQ1

BACKSTEPPINGQ2

FRACTIONAL ORDERQ1

TRIAXIAL GYROSCOPEQ1

Abstract

In this paper, a FRACTIONAL ORDER BACKSTEPPING type of FAST TERMINAL SLIDING MODE controller is proposed for controlling a micro-electro-mechanical TRIAXIAL GYROSCOPE with parameter uncertainty and internal and external disturbances. To compensate uncertainties and also incoming disturbances to the system, a combination of SLIDING MODE and BACKSTEPPING robust nonlinear controllers is used. In the proposed approach, the sliding surface is selected in the form of FRACTIONAL ORDER. To increase the speed of convergence of the system states to equilibrium points or the error to zero, the FAST TERMINAL SLIDING MODE controller is used. The asymptotic global stability of the closed loop system will be proven by Lyapunov stability theorem. Also, in addition to the above proposal controller, a FRACTIONAL ORDER BACKSTEPPING SLIDING MODE controller is designed and implemented for the gyroscope system. In order to evaluate performance of the designed controllers, these controllers are compared with BACKSTEPPING SLIDING MODE controller and the BACKSTEPPING FAST TERMINAL SLIDING MODE controller. The results show that the proposed controller has a faster transient response than the other controllers. Another advantage of the proposed controller is simplicity in design and implementation, increase in system stability and better tracking in comparison to other controllers. Also, unlike the other two controllers, the chattering phenomenon has been decreased significantly in the FRACTIONAL ORDER designed controllers.

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APA: Copy

FAZELI ASL, SAYED BAGHER, & Moosapour, Seyyed Sajjad. (2017). FRACTIONAL ORDER BACKSTEPPING FAST TERMINAL SLIDING MODE CONTROL FOR MICRO-ELECTRO-MECHANICAL TRIAXIAL GYROSCOPE. MODARES MECHANICAL ENGINEERING, 17(5 ), 385-393. SID. https://sid.ir/paper/179186/en

Vancouver: Copy

FAZELI ASL SAYED BAGHER, Moosapour Seyyed Sajjad. FRACTIONAL ORDER BACKSTEPPING FAST TERMINAL SLIDING MODE CONTROL FOR MICRO-ELECTRO-MECHANICAL TRIAXIAL GYROSCOPE. MODARES MECHANICAL ENGINEERING[Internet]. 2017;17(5 ):385-393. Available from: https://sid.ir/paper/179186/en

IEEE: Copy

SAYED BAGHER FAZELI ASL, and Seyyed Sajjad Moosapour, “FRACTIONAL ORDER BACKSTEPPING FAST TERMINAL SLIDING MODE CONTROL FOR MICRO-ELECTRO-MECHANICAL TRIAXIAL GYROSCOPE,” MODARES MECHANICAL ENGINEERING, vol. 17, no. 5 , pp. 385–393, 2017, [Online]. Available: https://sid.ir/paper/179186/en

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