吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (05): 1439-1443.

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Design of an improved tracking differentiator

GE Lian-zheng, CHEN Jian, LI Rui-feng   

  1. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
  • Received:2009-11-28 Online:2011-09-01 Published:2011-09-01

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Abstract:

To improve the robustness of tracking differentiator, the nonlinear sliding mode tracking differentiator is analyzed in details in this paper. Then an improved second-order sliding mode tracking differentiator is presented using Lyapunov stability theory. Integrating the characteristics of linear and nonlinear tracking differentiators, the proposed tracking differentiator can track and differentiate any signal; meanwhile, its structure is simple and it is easy for application. Numerical simulations are carried out on this improved tracking differentiator and on a super-twisting tracking differentiator. Results show that the improved tracking differentiator can reduce the chartering of differential signal.

Key words: tracking differentiator, robustness, second-order sliding mode

CLC Number: 

  • TP273
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