A First-Order Differentiator with First-Order Sliding Mode Filtering

被引：17

作者：

Kikuuwe, Ryo ^{[1
]}

Pasaribu, Rainhart ^{[2
]}

Byun, Gyuho ^{[3
]}

机构：

[1] Hiroshima Univ, Higashihiroshima 7398527, Japan

[2] Inst Teknol Bandung, Bandung 40132, Indonesia

[3] Kyushu Univ, Fukuoka, Fukuoka 8190395, Japan

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 16期

关键词：

Sliding mode observer; Differentiator; Implicit Euler discretization; Noise filtering; OBSERVER;

D O I：

10.1016/j.ifacol.2019.12.056

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a sliding mode differentiator for estimating the first-order derivatives of noisy signals. The proposed differentiator can be seen as a version of Slotine at al.'s sliding mode observer extended with additional non-Lipschitzness. It behaves exactly as a first-order low-pass filter in the sliding mode and is globally convergent. Its discrete-time implementation is based on the implicit (backward) Euler discretization, which does not result in chattering. The differentiator is validated through some numerical examples. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：771 / 776

页数：6

共 18 条

[1] Implicit Euler numerical scheme and chattering-free implementation of sliding mode systems [J].