Design of a Composite Adaptive Controller for the Single-axis 2-DOF MEMS Vibratory Gyroscope with the Competency of Rotation Rate Measurement

Abstract

This paper contributes a special design of a 2-DOF MEMS vibratory gyroscope in a mere schematic waywhich has the benefit of being manipulated by balanced force actuation mechanism and a differential ca-pacitive sensing one as well. These two embedded mechanisms function along drive and sense axes becausethe control-tasked system requires observation of displacement and velocity states simultaneously. In othersignificant stand, a composite adaptive controller is suggested to hold quadrature error compensation truecompelling the sensory oscillation mechanism to get vibrated with distinct frequency and amplitude sinu-soidally. Not only does the proposed composite scheme derive a benefit of rotation rate estimation beingsubjected to persistent excitation, but also it gains the advantage of rapid tunable estimation, considerableidentification sharpness and an intrinsic adjustable structural robustness in comparison to adaptive slidingmode controller. The simulation results emerge persuasive. It should not be concealed out of mind thatmain malfunctioning phenomena such as quadrature error and uncertainty absolutely gets prominent infabrication procedures and spoils sense mode gyroscope response. They mainly origin from light geome-try distortion which cause aniso-damping and aniso-elasticity. Furthermore, inaccuracy in modeling andfabrication process necessitates design of an effective controller. Shortcomings with tracking performanceof the pole-placement state-feedback controller and integral rotation rate estimation requires consideringother modern controllers like adaptive ones.