TY - JOUR
T1 - The Design and Implementation of Driving Mode Control for Vibrational Gyroscopes
AU - Dong, Lili
AU - Zheng, Qing
AU - Avanesov, David
PY - 2008/9/30
Y1 - 2008/9/30
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
UR - https://engagedscholarship.csuohio.edu/enece_facpub/478
UR - https://ieeexplore.ieee.org/document/4587190
U2 - 10.1109/ACC.2008.4587190
DO - 10.1109/ACC.2008.4587190
M3 - Article
JO - Proceedings of the American Control Conference
JF - Proceedings of the American Control Conference
ER -