Observer-based prescribed performance tracking control for MEMS Gyroscope subject to input saturation

In this work, a fixed-time prescribed performance output feedback tracking control scheme is presented for Micro-Electro-Mechanical Systems (MEMS) gyroscope subjected to uncertain system parameters. To obtain the state information of MEMS gyroscope, a state observation system with neural network approximation technique is firstly constructed such that the observation error can converge to a small residual set, and the size of the residual set can be adjusted by the observer gain. On the basis of obtaining the estimated state, a novel preassigned time performance function and a dynamic auxiliary system with hyperbolic tangent function are introduced into the design of closed-loop system. By using the error coordinate transformation and backstepping design process, an anti-saturation control law is devised based on the Lyapunov stability analysis method. The proposed controller can ensure that all signals in the whole closed-loop system are bounded, and meanwhile the tracking errors are driven to a preassigned set in a fixed time. In the end, simulation results verify the effectiveness of the proposed method.