Fractional Order Adaptive Sliding Mode Control System of Micro Gyroscope

In this paper, an adaptive sliding mode control method based on fractional order method is proposed for the estimation of unknown parameters in micro gyroscope system. Firstly, compared with the traditional integer order sliding surface, the fractional order sliding surface in this paper increases the order terms which can adjust the fractional order, and improve the control performance and precision. Additionally, the adaptive laws are derived to tune the control parameters online based on the Lyapunov stability theorem to deal with the uncertainty of the system. Moreover, simulation results show that the proposed control system's convergence speed, output signal tracking error and parameter fitting are better than the integral sliding mode control system, proving that the proposed control method is practicable and effective.