Fig. 1. ICFOG system structure block diagram

Fig. 2. Linear model of closed-loop fiber optic gyroscope

Fig. 3. Schematic diagram of PID controller based on PSO algorithm

Fig. 4. PID tuning process based on PSO optimization algorithm

Fig. 5. PID parameter tuning flow chart based on BP neural network

Fig. 6. Flow chart of parameter tuning based on fuzzy PID

Fig. 7. PID controller

Fig. 8. BP-PID controller

Fig. 9. F-PID controller

Fig. 10. PSO-PID controller

Fig. 11. Fitness function of PSO optimization algorithm

Fig. 12. Comparison chart of angular rate input tracking of fiber optic gyro with different control schemes

Fig. 13. Comparison chart of angular rate input tracking error of fiber optic gyroscope

Fig. 14. Variation diagram of fitness value with iteration times

Fig. 15. Variation diagram of parameters \begin{document}${K_p}$\end{document}，\begin{document}${K_i}$\end{document} and \begin{document}${K_d}$\end{document} with iteration times