A New Quick-Response Sliding Mode Tracking Differentiator With its Chattering-Free Discrete-Time Implementation

IEEE Access

Zhengxiang Lv¹  Shanhai Jin¹  Jingdong Yu¹  Xiaogang Xiong² 

[1] School of Engineering, Yanbian University, Yanji, China;School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen, China;

关键词: Chattering avoidance;    implicit Euler discretization;    noise attenuation;    PD control;    sliding mode;    tracking differentiator;   

DOI  :  10.1109/ACCESS.2019.2940262

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown