This paper proposes a novel adaptive Super-Twisting sliding mode control for a
microgyroscope under unknown model uncertainties and external disturbances. In
order to improve the convergence rate of reaching the sliding surface and the
accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding
mode control strategy is employed, which not only can combine the advantages of
the traditional sliding mode control with the Super-Twisting sliding mode control,
but also guarantee that the designed control system can reach the sliding surface
and equilibrium point in a shorter finite time from any initial state and avoid
chattering problems. In consideration of unknown parameters of micro gyroscope
system, an adaptive algorithm based on Lyapunov stability theory is designed to
estimate the unknown parameters and angular velocity of microgyroscope. Finally,
the effectiveness of the proposed scheme is demonstrated by simulation results.
The comparative study between adaptive Super-Twisting sliding mode control and
conventional sliding mode control demonstrate the superiority of the proposed
method.

제 1편 : SIMULINK 기본편
1.1 SIMULINK의 시작 1
블록의 연결 5
블록 파라미터의 설정 7
시뮬레이션 파라미터 (Configuration Parameters)의 설정 8
시뮬레이션의 수행 9
블록 파라미터의 표시 9
복수 데이터의 표시 11
2.2 동적 시뮬레이션 13
이차 미분방정식 17
선형 상태변수 모델 23
DC 모터의 시뮬레이션 24
함수 블록의 사용 29
차분방정식(difference equation)의 모델링 34
Subsystem(부시스템)의 구성 37
제 2편 : 연구논문
Design and analysis of adaptive Super-Twisting sliding mode control
for a microgyroscope
1. Introduction 41
2. Materials and methods 43
3. Super-Twisting sliding mode control 43
4. Adaptive Super-Twisting sliding mode control system 46
5. Simulation study 50
6. Conclusion 55
7. References 55