Prescribed performance output feedback controller design for MEMS gyroscopes using adaptive integral terminal SMC and high-order sliding mode observer

this paper presents a new robust finite time stable output feedback control method for MEMS gyroscopes by considering uncertainties and external disturbances and assuming the unavailability of velocity information. In order to achieve finite time stable tracking and guarantee the good transient performance of the control system, the combination of the integral terminal sliding mode and the prescribed performance control method has been used as the central part of the control system. Also, a third-order sliding mode observer has been used to simultaneously estimate external disturbances, dynamic uncertainties, and velocity. The results of the simulation of the proposed method and its comparison with the methods of previous researches were presented, which shows the favorable performance of the proposed method in terms of tracking accuracy and fast convergence, high robustness, reducing chattering in control signals and improving the transient response of the system by ensuring that the tracking errors are within a predefined domain.