Neurodynamic Approximation-Based Quantized Control With Improved Transient Performances for Microelectromechanical System Gyroscopes: Theory and Experimental Results
Xingling Shao, Yi Shi, Wendong Zhang, Huiliang Cao
Abstract
This article investigates a neurodynamic quantized control problem with improved transient performances for microelectromechanical system (MEMS) gyroscopes subject to lumped disturbances induced by parameter uncertainties, dynamic coupling, and external disturbances. First, a modified prescribed performance control mechanism based on a hyperbolic cosecant performance function is proposed to specify the transient behavior of tracking errors with an arbitrarily small overshoot. Then, to eliminate the lumped disturbances with a better identification property, a novel echo state network approximator that uses the estimation error to learn neural weights is designed with the aid of a minimal learning parameter technique, which not only can exclude the poor transient behaviors occurring extensively in the existing neural control with a large adaptive gain, but also dramatically reduce the number of parameters to be updated online. Furthermore, contrasting to the available tracking results assuming a continuous control updating, a hysteresis quantizer is introduced to provide discrete values of control signals, supporting the use of digital devices in MEMS gyroscope implementations to realize a closed-loop error stabilization. Finally, ultimately uniformly bounded stability of closed-loop system is proved with the aid of Lyapunov function and nonsmooth analysis technique, while not only simulations but also experimental results are performed to validate the effectiveness of the proposed scheme.