Input-and-Measurement Event-Triggered Output-Feedback Chattering Reduction Control for MEMS Gyroscopes

This article presents an input-and-measurement event-triggered output-feedback chattering reduction control for microelectromechanical system (MEMS) gyroscopes. To realize online estimation with decreased communication burden along sensor-to-control channel, a switching threshold-based sampler is embedded to achieve an intermittent measurement-based extended state observer (IMESO) capable of synchronously observing unavailable velocity states and disturbances, meanwhile, a mathematical presentation reflecting the interaction between design parameters and upper boundary of estimation errors is deduced to make argument tuning easy. Next, an event-triggered output-feedback control rule is developed in the controller-to-actuator channel to obtain a discrete control signal with less occupation on communication resources without inducing Zeno phenomena. Besides, to enforce system profiles evolve within the predefined performance boundaries with reduced chattering, a tracking differentiator (TD)-based prescribed performance control (TDPPC) is proposed, where the time differentiation of the preselected envelopes can be managed with smooth transient, and a balance between system performance and sampling cost can be ensured. Finally, a sigmoid function-based TD (STD), rather than dynamic surface control, is utilized to overcome the complexity explosion. Comparison simulations are performed to show the superiorities and effectiveness of the established controller.