Recursive integral terminal sliding mode control with combined extended state observer and adaptive Kalman filter for MEMS gyroscopes

The recursive integral terminal sliding mode control with combined extended state observer (ESO) and adaptive Kalman filter (AKF) is proposed in this article for micromechanical system gyroscopes. To accurately estimate the unmeasured system states in the presence of measurement noises, external disturbances and system uncertainties, the special combination of ESO and AKF is proposed. The AKF is employed to deal with measurement noises and prepare necessary signals for the ESO, while the ESO constantly provides the updated estimate of the lumped disturbance for the AKF. Furthermore, a robust control scheme is designed by using the recursive integral terminal sliding mode variable. Simulation results verify that more accurate unmeasured state estimation and higher tracking accuracy are achieved under the proposed method.