Adaptive sliding mode controller for bell-shaped vibratory angular rate gyro

For bell-shaped vibratory angular rate gyro has manufacturing errors and the model parameters is easily affected by environment, the existing controller loop can't remove the influence, so the angular rate can't be exactly estimated. This paper proposes a method of the adaptive sliding mode controller to calculate angular rate. By analyzing the bell-shaped vibratory angular rate gyro's dynamics equations, we get the equation of state including disturbance and parameter perturbation, get proportion integral sliding mode surface with exponential approach law, design a kind of sliding mode controller for bell-shaped vibratory angular rate gyro to effectively estimate the input angular rate. The simulation results prove that the controller can steadily control the bell-shaped vibratory angular rate gyro's mode shape and effectively measure the input angular rate.