Abstract
Microelectromechanical (MEMS) gyroscopes are small devices used in different industries such as automotive and robotics systems due to their small size and low costs. The MEMS gyroscopes constantly encounter external disturbances, which introduce some mechanical and electromechanical nonlinearity in those systems. In this paper, the Koopman theory is applied to the nonlinear dynamic model of MEMS gyroscope to the linear dynamics model. Dynamic mode decomposition (DMD) is used to obtain eigenfunctions using Koopman’s theory to linearize the system. Then, a linear quadratic regulator (LQR) controller is used to control the MEMS gyroscope. The simulation results verify the performance of the proposed controller in terms of high-tracking performance.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2256-2264 |
| Number of pages | 9 |
| Journal | International Journal of Dynamics and Control |
| Volume | 11 |
| Issue number | 5 |
| DOIs | |
| State | Published - Oct 2023 |
Keywords
- Dynamic mode decomposition
- Koopman theory
- LQR controller
- MEMS gyroscope
- Nonlinearity
ASJC Scopus subject areas
- Control and Systems Engineering
- Civil and Structural Engineering
- Modeling and Simulation
- Mechanical Engineering
- Control and Optimization
- Electrical and Electronic Engineering