期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
DOI：10.5772/50905
语种：English
出版社：SAGE Publications
摘要：In this paper, a direct adaptive fuzzy control using a supervisory compensator is designed for the robust tracking of a MEMS gyroscope sensor. The parameters of the membership functions are adjusted according to the designed adaptive law for the purpose of tracking a reference trajectory. A fuzzy controller that can approximate the unknown nonlinear function and compensate the system’s 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 are investigated in order to verify the effectiveness of the proposed adaptive fuzzy control scheme and show that the system using the designed fuzzy controller with a supervisory compensator has better tracking performance and robustness than that using only a fuzzy control without a supervisory compensator in the presence of external disturbances.
