Abstract
A Micro-Electro-Mechanical System (MEMS) gyroscope is employed in many real-time applications. However, these systems are sensitive to measurement errors and exhibit high nonlinearity. This paper deals with the constant faults of the position-dependent measurements in MEMS gyroscopes. In the dynamic model of the MEMS gyroscope, it is assumed that there are position-dependent errors in the actuation and sensing axes. To overcome this problem, a robust adaptive backstepping controller with integral action is developed for the control of the MEMS gyroscope. The asymptotic stability of the closed-loop dynamics is proved in the sense of Lyapunov theory. The viability of the proposed control method is tested by numerical simulations to show the robustness against positiondependent errors. The simulation results are presented with a comparison to the classical backstepping controller, and with different initial conditions. The obtained results show that the proposed controller method is robust to the constant faults of the position-dependent measurements in MEMS gyroscopes.