The invention discloses a fractional order adaptive rapid
terminal sliding mode control method of a micro-
gyroscope. The method comprises steps of establishing a dimensionless kinetic equation
mathematical model and a reference trajectory model of a micro-
gyroscope system; and constructing a fractional order-based adaptive rapid
terminal sliding mode controller. According to the invention, an objective of real-time tracking of the micro-
gyroscope can be achieved; errors can be rapidly converged into zero in the limited time; robustness of the
system is enhanced; under the condition that thereis external interference, good performance can be kept; according to a fractional order adaptive rapid
terminal sliding mode surface, a fractional order adaptive rule is designed; based on the
Lyapunov stability criterion, an
adaptive identification method is designed; all kinds of unknown
system parameters of the micro-gyroscope are estimated in an online real-time manner; compared with an integer order, adjustable items are added, so control effects and parameter
estimation effects are improved; and by use of the
adaptive control method, system non-determinacy and parameters of the upper bound of the external disturbance sum are estimated, and automatic tracking of manufacturing errors and external disturbance is achieved.