Abstract:

A robust, time-suboptimal controller is proposed for damping systems of gyroscopes. The technique involves the combination of traditional “bang-bang” control with sliding-mode control and an alternating control. It incorporates the time optimal control idea into the sliding mode control design and the sliding mode control is established by Lyapunov function approach. A special situation about the instability problem near the origin is analyzed. To solve this problem, another sliding mode control with linear sliding surface, is proposed as an alternating control. Numerical simulation results demonstrate the effectiveness of the proposed controller, reducing chattering significantly while performing nearly as well as the theoretical controller. This technique can be also applied to other similar secondorder systems, which can neglect the damping term practically.