The Design and Implementation of Driving Mode Control for Vibrational Gyroscopes

Lili Dong; Qing Zheng; David Avanesov

doi:10.1109/ACC.2008.4587190

The Design and Implementation of Driving Mode Control for Vibrational Gyroscopes

Lili Dong
, Qing Zheng
, David Avanesov

Cleveland State University

Research output: Contribution to journal › Article › peer-review

Abstract

The paper presents a novel oscillation controller for controlling the driving mode (or drive axis) of a vibrational gyroscope to oscillate at a desired trajectory. The controller consists of a PD controller and an online Extended State Observer (ESO). The ESO is used to estimate the system states and the discrepancy between the real system and the mathematical model of the gyroscope. The PD controller drives the estimated discrepancy and the tracking error of the output of the driving mode to zero. Since the controller design does not require exact information of system parameters, it is very robust against structural uncertainties of the gyroscope. The convergence of the estimation error of the ESO and the stability of the control system are theoretically proven. The controller is validated by software and analog hardware implementations on a vibrational piezoelectric beam gyroscope. ©2008 AACC.

Original language	American English
Journal	Proceedings of the American Control Conference
DOIs	https://doi.org/10.1109/ACC.2008.4587190
State	Published - Sep 30 2008

Keywords

Analog implementation
Extended state observer
Oscillation controller
Vibrational gyroscopes

Disciplines

Electrical and Computer Engineering

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10.1109/ACC.2008.4587190License: CC BY

https://ieeexplore.ieee.org/document/4587190

Cite this

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title = "The Design and Implementation of Driving Mode Control for Vibrational Gyroscopes",

abstract = " The paper presents a novel oscillation controller for controlling the driving mode (or drive axis) of a vibrational gyroscope to oscillate at a desired trajectory. The controller consists of a PD controller and an online Extended State Observer (ESO). The ESO is used to estimate the system states and the discrepancy between the real system and the mathematical model of the gyroscope. The PD controller drives the estimated discrepancy and the tracking error of the output of the driving mode to zero. Since the controller design does not require exact information of system parameters, it is very robust against structural uncertainties of the gyroscope. The convergence of the estimation error of the ESO and the stability of the control system are theoretically proven. The controller is validated by software and analog hardware implementations on a vibrational piezoelectric beam gyroscope. {\textcopyright}2008 AACC.",

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AU - Zheng, Qing

AU - Avanesov, David

PY - 2008/9/30

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N2 - The paper presents a novel oscillation controller for controlling the driving mode (or drive axis) of a vibrational gyroscope to oscillate at a desired trajectory. The controller consists of a PD controller and an online Extended State Observer (ESO). The ESO is used to estimate the system states and the discrepancy between the real system and the mathematical model of the gyroscope. The PD controller drives the estimated discrepancy and the tracking error of the output of the driving mode to zero. Since the controller design does not require exact information of system parameters, it is very robust against structural uncertainties of the gyroscope. The convergence of the estimation error of the ESO and the stability of the control system are theoretically proven. The controller is validated by software and analog hardware implementations on a vibrational piezoelectric beam gyroscope. ©2008 AACC.

AB - The paper presents a novel oscillation controller for controlling the driving mode (or drive axis) of a vibrational gyroscope to oscillate at a desired trajectory. The controller consists of a PD controller and an online Extended State Observer (ESO). The ESO is used to estimate the system states and the discrepancy between the real system and the mathematical model of the gyroscope. The PD controller drives the estimated discrepancy and the tracking error of the output of the driving mode to zero. Since the controller design does not require exact information of system parameters, it is very robust against structural uncertainties of the gyroscope. The convergence of the estimation error of the ESO and the stability of the control system are theoretically proven. The controller is validated by software and analog hardware implementations on a vibrational piezoelectric beam gyroscope. ©2008 AACC.

KW - Analog implementation

KW - Extended state observer

KW - Oscillation controller

KW - Vibrational gyroscopes

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DO - 10.1109/ACC.2008.4587190

M3 - Article

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

ER -

The Design and Implementation of Driving Mode Control for Vibrational Gyroscopes

Abstract

Keywords

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