Compound Fractional Integral Terminal Sliding Mode Control and Fractional PD Control of a MEMS Gyroscope

  • Mehran RahmaniEmail author
  • Mohammad Habibur Rahman
  • Jawhar Ghommam
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 270)


This paper proposes a compound fractional order integral terminal sliding mode control (FOITSMC) and fractional order proportional-derivative control (FOPD-FOITSMC) for the control of a MEMS gyroscope. In order to improve the robustness of the conventional integral terminal sliding mode control (ITSMC), a fractional integral terminal sliding mode surface is applied. The chattering problem in FOITSMC, which is usually generated by the excitation of fast un-modelled dynamic is the main drawback. A fractional order proportional-derivative controller (FOPD) is employed in order to eliminate chattering phenomenon. The stability of the FOPD-FOITSMC is proved by Lyapunov theory. The performance of the proposed control method is compared with FOITSMC. Numerical simulations clearly verified the effectiveness of the proposed control approach.


MEMS gyroscope Fractional integral terminal sliding mode control Fractional PD controller 


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© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Mehran Rahmani
    • 1
    Email author
  • Mohammad Habibur Rahman
    • 1
  • Jawhar Ghommam
    • 2
  1. 1.Department of Mechanical EngineeringUniversity of WisconsinMilwaukeeUSA
  2. 2.Control and Management LabSultan Qaboos UniversityAl KhoudhOman

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