{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,27]],"date-time":"2026-01-27T12:20:15Z","timestamp":1769516415355,"version":"3.49.0"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2018,11,9]],"date-time":"2018-11-09T00:00:00Z","timestamp":1541721600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper reports an extended state observer (ESO)-based robust dynamic surface control (DSC) method for triaxial MEMS gyroscope applications. An ESO with non-linear gain function is designed to estimate both velocity and disturbance vectors of the gyroscope dynamics via measured position signals. Using the sector-bounded property of the non-linear gain function, the design of an <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718001133_inline1\"\/><jats:tex-math>$\\mathcal{L}_2$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>-robust ESO is phrased as a convex optimization problem in terms of linear matrix inequalities (LMIs). Next, by using the estimated velocity and disturbance, a certainty equivalence tracking controller is designed based on DSC. To achieve an improved robustness and to remove static steady-state tracking errors, new non-linear integral error surfaces are incorporated into the DSC. Based on the energy-to-peak (<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718001133_inline1\"\/><jats:tex-math>$\\mathcal{L}_2$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>-<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718001133_inline2\"\/><jats:tex-math>$\\mathcal{L}_\\infty$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>) performance criterion, a finite number of LMIs are derived to obtain the DSC gains. In order to prevent amplification of the measurement noise in the DSC error dynamics, a multi-objective convex optimization problem, which guarantees a prescribed <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718001133_inline1\"\/><jats:tex-math>$\\mathcal{L}_2$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>-<jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"gif\" xlink:type=\"simple\" xlink:href=\"S0263574718001133_inline2\"\/><jats:tex-math>$\\mathcal{L}_\\infty$<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula> performance bound, is considered. Finally, the efficacy of the proposed control method is illustrated by detailed software simulations.<\/jats:p>","DOI":"10.1017\/s0263574718001133","type":"journal-article","created":{"date-parts":[[2018,11,9]],"date-time":"2018-11-09T08:08:19Z","timestamp":1541750899000},"page":"481-501","source":"Crossref","is-referenced-by-count":23,"title":["Extended state observer-based robust non-linear integral dynamic surface control for triaxial MEMS gyroscope"],"prefix":"10.1017","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5866-5131","authenticated-orcid":false,"given":"Mehran","family":"Hosseini-Pishrobat","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jafar","family":"Keighobadi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,11,9]]},"reference":[{"key":"S0263574718001133_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2014.11.008"},{"key":"S0263574718001133_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2004.831148"},{"key":"S0263574718001133_ref21","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.963"},{"key":"S0263574718001133_ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84800-155-8_7"},{"key":"S0263574718001133_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471400294X"},{"key":"S0263574718001133_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4614-6859-2_3"},{"key":"S0263574718001133_ref30","unstructured":"M. Grant , S. Boyd , \u201cCVX: Matlab Software for Disciplined Convex Programming,\u201d version 2.1, cvxr.com\/cvx, (2014)."},{"key":"S0263574718001133_ref27","volume-title":"A Unified Algebraic Approach to Linear Control Design","author":"Skelton","year":"1997"},{"key":"S0263574718001133_ref19","doi-asserted-by":"publisher","DOI":"10.1080\/00207170210140843"},{"key":"S0263574718001133_ref8","doi-asserted-by":"crossref","unstructured":"C. Patel , P. McCluskey , \u201cPerformance Degradation of the MEMS Vibratory Gyroscope in Harsh Environments,\u201d Proceedings of the ASME. ASME International Mechanical Engineering Congress and Exposition, Volume 11: Nano and Micro Materials, Devices and Systems; Microsystems Integration, Denver, Colorado, USA (2011) pp. 511\u2013515.","DOI":"10.1115\/IMECE2011-65001"},{"key":"S0263574718001133_ref5","unstructured":"J. D. John , Adaptively Controlled MEMS Triaxial Angular Rate Sensor PhD Thesis (School of Electrical and Computer Engineering, RMIT University, Melbourne, 2006)."},{"key":"S0263574718001133_ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-387-09536-3"},{"key":"S0263574718001133_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.2008638"},{"key":"S0263574718001133_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2006.874458"},{"key":"S0263574718001133_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2012.02.007"},{"key":"S0263574718001133_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/s00542-015-2645-x"},{"key":"S0263574718001133_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/7361.983473"},{"key":"S0263574718001133_ref9","unstructured":"S. Park , Adaptive Control Strategies for MEMS Gyroscopes PhD Thesis (U.C. Berkeley, Berkeley, CA, USA, 2000)."},{"key":"S0263574718001133_ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.1849252"},{"key":"S0263574718001133_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/S0019-0578(07)60069-X"},{"key":"S0263574718001133_ref13","doi-asserted-by":"publisher","DOI":"10.1177\/0954406215607899"},{"key":"S0263574718001133_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-014-1430-1"},{"key":"S0263574718001133_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2000.880994"},{"key":"S0263574718001133_ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-0-85729-632-0"},{"key":"S0263574718001133_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2014.2364982"},{"key":"S0263574718001133_ref18","doi-asserted-by":"publisher","DOI":"10.3182\/20110828-6-IT-1002.01693"},{"key":"S0263574718001133_ref20","doi-asserted-by":"publisher","DOI":"10.3969\/j.issn.1004-4132.2010.06.021"},{"key":"S0263574718001133_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4419-6020-7"},{"key":"S0263574718001133_ref24","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611970777"},{"key":"S0263574718001133_ref28","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(95)00147-6"},{"key":"S0263574718001133_ref31","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511933899.010"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574718001133","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,12]],"date-time":"2019-04-12T15:07:35Z","timestamp":1555081655000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574718001133\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,11,9]]},"references-count":31,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2019,3]]}},"alternative-id":["S0263574718001133"],"URL":"https:\/\/doi.org\/10.1017\/s0263574718001133","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,11,9]]}}}