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Dynamical analysis, circuit implementation and adaptive backstepping control of the FO MEMS triaxial gyroscope with output constraints

Author

Listed:
  • Deng, Haifeng
  • Luo, Shaohua
  • Deng, Guangwei
  • Ouakad, Hassen M.

Abstract

This paper investigates the dynamical analysis, circuit implementation, and adaptive backstepping control of a fractional-order (FO) micro-electro-mechanical system (MEMS) triaxial gyroscope subject to output constraints. First, the FO model of the gyroscope is derived using Lagrange's equations. Next, its dynamic characteristics are examined through numerical simulation, analog circuit implementation, and experimental validation on a Digital Signal Processing (DSP) hardware platform. Simulation results reveal that the gyroscope exhibits complex, disordered nonlinear dynamics depending on the FOs, stiffness coefficients, and proof mass parameters. Both the analog circuit implementation and DSP experiments confirm the presence of detrimental chaotic oscillations in practical hardware scenarios. Third, to address the dual challenge of output constraint enforcement and high-precision control, the FO time-varying barrier Lyapunov functions (FOBLFs) are designed to restrict the triaxial outputs of the gyroscope within prescribed ranges. Moreover, interval type-2 fuzzy neural networks (IT2FNNs) are employed to approximate unknown system nonlinearities, while FO hyperbolic tangent tracking differentiators (FOHTTDs) are integrated to mitigate the conventional backstepping issue of “complexity explosion”. Building upon these components, an enhanced adaptive backstepping control strategy is proposed, incorporating FOBLFs, IT2FNNs, and FOHTTDs. This control scheme ensures precise trajectory tracking, adherence to output constraints, and boundedness of all system signals. Finally, extensive simulation results validate the effectiveness and validity of the proposed scheme over existing control methods.

Suggested Citation

  • Deng, Haifeng & Luo, Shaohua & Deng, Guangwei & Ouakad, Hassen M., 2025. "Dynamical analysis, circuit implementation and adaptive backstepping control of the FO MEMS triaxial gyroscope with output constraints," Chaos, Solitons & Fractals, Elsevier, vol. 201(P1).
    • Handle: RePEc:eee:chsofr:v:201:y:2025:i:p1:s0960077925011051
    DOI: 10.1016/j.chaos.2025.117092
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    References listed on IDEAS

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