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In this paper, a fractional order backstepping type of fast terminal sliding mode controller is proposed for controlling a micro-electro-mechanical triaxial gyroscope with parameter uncertainty and internal and external disturbances. To compensate uncertainties and also incoming disturbances to the system used combination of sliding mode and backstepping robust nonlinear controllers. In the proposed approach, the sliding surface is selected in the form of fractional order. To increase the speed of convergence the system states to equilibrium points or the error to zero, the fast terminal sliding mode controller is used. The globally stability of the closed loop system will prove by Lyapunov stability theorem. Also in addition to the above proposal controller, a fractional order backstepping sliding mode controller designed and implemented for the gyroscope system. In order to evaluate the performance of designed controllers, these controllers compared with backstepping sliding mode controller and the backstepping fast terminal sliding mode controller. The results shown that the proposed controller has a faster transient response than the other controllers. Another advantage of the proposed controller is simplicity designed and implemented, increase system stability and acceptable tracking than the other controllers. Also unlike the other two controllers the chattering phenomenon completely removed in the fractional order designed controllers.

Keywords: Sliding mode, fast terminal, Backstepping, fractional order, triaxial gyroscope

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