Abstract
Accurate acceleration is quite helpful for improving the performance of motion systems. But most practical systems cannot full access to velocity and acceleration. A simple fast and precise third-order tracking differentiator (TTD) is proposed for high-quality velocity and acceleration estimations. Global asymptotic convergence is proved by Lyapunov’s method and higher-order tracking differentiator methodology. Advantages of the proposed TTD include intuitive structure with easy implementation and precise estimation with fast transient and strong noise-tolerance. The proposed TTD is integrated with a model-free time delay control (TDC) for high-performance motion control. Simulations and experiments demonstrate the improved performance of the proposed approach.
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