Dynamics and Robust Control of an Underactuated Torsional Vibratory   Gyroscope Actuated by Electrostatic Actuator

doi:10.1109/TMECH.2014.2350535

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	Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator
	He, Guangping ; Geng, Zhiyong
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2015
关键词	Dynamics linear matrix inequalities (LMIs) MEMS gyroscopes robust control underactuation MICROMACHINED GYROSCOPES MODE OBSERVER STABILIZATION SYSTEMS DESIGN
DOI	10.1109/TMECH.2014.2350535
英文摘要	It has been shown that the underactuated MEMS gyroscopes provide inherent robustness against structural and environmental parameter variations. To further improve the performance of the systems, the electrical and mechanical coupling dynamics of the underactuated torsional gyroscopes with double oscillators actuated by a single electrostatic actuator is investigated in this paper. It is shown that the highly nonlinear coupling dynamics of the underactuated gyroscope systems can be transformed into the fifth-order linear systems even though the electrical uncertainties of the systems are considered. For the purpose of simplifying the structures of the underactuated torsional MEMS gyroscopes, an observer-based robust controller with considering structural uncertainties is presented on the basis of linear matrix inequalities (LMIs). The robust stability of the presented controller is also demonstrated by some numerical simulations on a three-degree-of-freedom underactuated MEMS gyroscope. It is shown that the LMI-based robust controller can accommodate both large initial errors in the system state and bounded uncertainties in the structural parameters of the system.; National Natural Science Foundation of China [51375016]; SCI(E); EI; ARTICLE; hegp55@126.com; zygeng@pku.edu.cn; 4; 1725-1733; 20
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/417690]
专题	工学院
推荐引用方式 GB/T 7714	He, Guangping,Geng, Zhiyong. Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2015.
APA	He, Guangping,&Geng, Zhiyong.(2015).Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator.IEEE-ASME TRANSACTIONS ON MECHATRONICS.
MLA	He, Guangping,et al."Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2015).