Multiple Loop Fuzzy Neural Network Fractional Order Sliding Mode Control of Micro Gyroscope

In this paper, an adaptive double feedback fuzzy neural fractional order sliding control approach is presented to solve the problem that lumped parameter uncertainties cannot be measured and parameters are unknown in a micro gyroscope system. Firstly, surface designed, terms can provide additional freedom improve accuracy. Then, upper bound of nonlinearities estimated online using network. Accordingly, gain switching law replaced by value. Meanwhile, network, including base widths, centers, output layer weights, inner gains, outer adjusted real time stability identification efficiency. Finally, simulation results display performance proposed convergence speed track speed.