Model-Free Sliding Mode Control Applied to a Gyroscope System

This paper introduces a novel approach to model-free control that leverages algebraic estimators and ultra-local models. We propose a sliding mode scheme to enhance system robustness against plant variations and mitigate the impact of potentially imprecise initial parameter estimates in model-free control. We compare our proposed scheme with both a model-based sliding mode and a model-free control without sliding mode. Practical results using a control moment gyroscope demonstrate the benefits of our technique.