An adaptive terminal sliding mode control scheme is presented for Micro-Electro-Mechanical Systems (MEMS) vibrational gyroscope system in this paper. In this approach the dynamics of the vibrational gyroscope system is eliminated by using inverse dynamic method to reduce the bounds of existing uncertainties. the designed terminal sliding mode control vector is provided a global asymptotic stability for close loop system with uncertainties. In this paper, an adaptive estimator is proposed to prevent the occurrence of a chattering problem at the control input, which has only one law. The mathematical proof shows that the closed loop system, with proposed adaptive terminal sliding mode controller with uncertainties has a global asymptotic stability. Four-phase simulations are implemented on the MEMS vibrational gyroscope system to demonstrate the performance of the controller and compare it with other similar controllers. The simulation results show that the proposed adaptive terminal sliding mode controller has desired performance.
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