Neural Sliding Mode Control using Neural Disturbance Observer for Gyroscopes

In this paper, a neural network sliding mode control based on neural network disturbance observer is proposed for the control of MEMS gyroscopes under external disturbances. In the design process, two sets of RBF neural networks are incorporated in the sliding mode controller design as well as the disturbance design separately to release the dependence of each module on gyroscope system parameters. Meanwhile, the integration of the neural disturbance observer can help to alleviate chattering phenomenon in conventional sliding mode control forces. Simulation studies are implemented to verify the effectiveness of the proposed control scheme.