Document Type : Research Article


1 M.Sc. Student, Faculty of Engineering, Golestan University, Gorgan, Iran

2 Department of Electrical Engineering, Faculty of Engineering, Golestan University, Gorgan, Iran


The gyroscope system is an attractive and efficient nonlinear system that is used in various military, aerospace, navigation, and many other important industries. In this paper, a robust sliding mode controller is proposed to control the chaotic gyroscope nonlinear system in the presence of noise, external disturbances in the system, and input saturation. In the proposed design, the input saturation compensation system based on the first type of Chebyshev neural network is proposed to prevent the destructive effects of input saturation in the control system. The weights of the first-type Chebyshev neural network are adjusted in such a way that the derivative of the Lyapunov function is negative and the stability of the closed-loop system of the gyroscope is guaranteed. The performance of the proposed control approach is compared with other control methods and evaluated in different scenarios.


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