Abstract
This paper presents a new quick-response sliding mode tracking differentiator (new TD) for feedback control of mechatronic systems. The new TD is an extension of Jin et al.'s sliding mode tracking differentiator (TD-J) by employing an exponential reaching term for balancing the trade-off between noise attenuating efficiency and convergence speed. The discrete-time algorithm of the new TD is derived by using the implicit-Euler discretization and an equivalent between a set-valued signum function and a saturation function, and it does not produce chattering, which has been one major challenge of implementing sliding mode technique in discrete-time. Simulations and experiments are conducted for validating the effectiveness of the new TD.
Highlights
In most practical feedback control systems, signals that cannot be directly measured are required
To address the abovementioned issues, this paper proposes a new sliding mode tracking differentiator, which is an improvement of TD-J
This paper has presented a new sliding mode tracking differentiator for feedback control of mechatronic systems
Summary
In most practical feedback control systems, signals that cannot be directly measured are required. There has been a growing interest in super-twisting algorithm [1]–[3] based sliding mode observers [4]–[6] owing to their robustness, high tracking accuracy, and finitetime convergence in continuous-time analysis These advantages may be compromised in discrete-time implementation, typically discretized with the explicit-Euler discretization [7]–[9]. Z. Lv et al.: New Quick-Response Sliding Mode Tracking Differentiator With Its Chattering-Free Discrete-Time Implementation. TD-H has an inherent drawback that it is prone to overshoot, because its system state is only attracted to the sliding surface only from one side Toward this problem, Jin et al [26] proposed a sliding mode tracking differentiator (TD-J), which is an extension of TD-H.
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