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Adaptive Control of a Vibratory Angle Measuring Gyroscope
Department of Aerospace Engineering, Sejong University, 98, Gunja-dong, Kwangjin-gu, Seoul 143-747, Korea
Received: 11 August 2010; in revised form: 20 August 2010 / Accepted: 3 September 2010 / Published: 9 September 2010
Abstract: This paper presents an adaptive control algorithm for realizing a vibratory angle measuring gyroscope so that rotation angle can be directly measured without integration of angular rate, thus eliminating the accumulation of numerical integration errors. The proposed control algorithm uses a trajectory following approach and the reference trajectory is generated by an ideal angle measuring gyroscope driven by the estimate of angular rate and the auxiliary sinusoidal input so that the persistent excitation condition is satisfied. The developed control algorithm can compensate for all types of fabrication imperfections such as coupled damping and stiffness, and mismatched stiffness and un-equal damping term in an on-line fashion. The simulation results show the feasibility and effectiveness of the developed control algorithm that is capable of directly measuring rotation angle without the integration of angular rate.
Keywords: angle measurement; vibratory gyroscope; trajectory following; adaptive control
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MDPI and ACS Style
Park, S. Adaptive Control of a Vibratory Angle Measuring Gyroscope. Sensors 2010, 10, 8478-8490.
Park S. Adaptive Control of a Vibratory Angle Measuring Gyroscope. Sensors. 2010; 10(9):8478-8490.
Park, Sungsu. 2010. "Adaptive Control of a Vibratory Angle Measuring Gyroscope." Sensors 10, no. 9: 8478-8490.