Design of rapid exponential integral nonlinear tracking differentiator

Chen, Zhenzhen; Tang, Wenjie; Huang, Danhui

doi:10.1080/00207179.2021.1871655

Cited by 13 publications

(9 citation statements)

References 13 publications

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“…The position signal is the same as that in Chen et al 25 as r ( t ) = sin ( 2 π t ) rad and the real velocity is r · ( t ) = 2 π cos ( 2 π t ) rad / s . It is also assumed to be disturbed by white noise with a variance of 0 . 001 rad .…”

Section: Numerical Simulationsmentioning

confidence: 99%

“…The sampling time is T = 0 . 001 s . The parameters of the EITD are also the same as that in Chen et al, 25 and the parameters of the proposed FTD are chosen according to Remark 1. They are summarized in Table 1.…”

Section: Numerical Simulationsmentioning

confidence: 99%

“…Advantages of the proposed FTD include faster convergence for both small and large initial velocity estimation errors and alleviating the conflict of rapidity and smooth differentiation. Numerical velocity estimation with the recent fast EITD of Chen et al 25 and positioning comparisons on a motion system with the cascaded FTD-based robust output feedback PD (FOPD) control and EITD-based robust output feedback PD (EIOPD) control illustrate the improved performance of velocity estimation and motion control. Experimental validations of the modified continuous FOPD (CFOPD) and continuous EIOPD (CEIOPD) controls on a servomechanism further demonstrate the improved performance practically.…”

Section: Introductionmentioning

confidence: 97%

“…23 Most recently, a hybrid TD is constructed by an improved sigmoid function in Song et al 24 A fast exponential integral NTD (EITD) is proposed for small error estimation. 25…”

Section: Introductionmentioning

confidence: 99%

“…23 Most recently, a hybrid TD is constructed by an improved sigmoid function in Song et al 24 A fast exponential integral NTD (EITD) is proposed for small error estimation. 25 The desire for fast and high-precision velocity signal for motion systems motivates us to revisit the problem of velocity estimation from noisy position measurement only. Recognizing the easy-implementation feature of TD, a simple fast transient TD (FTD) is developed within the framework of TD design methodology.…”

Section: Introductionmentioning

confidence: 99%

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A fast transient tracking differentiator for high-precision motion systems

Wang

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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High-quality velocity signal plays an important role in fast and precise motion systems, but most commercially available motion systems are not commonly equipped with velocity sensors; hence, full access to the system states is impossible. A fast transient tracking differentiator is proposed in this article for obtaining the noise-less time derivative from a noisy measurement. The fast transient tracking differentiator is conceived within the framework of tracking differentiator methodology and is accomplished by integrating a power-like function with a smooth hyperbolic sine function. Tracking differentiator theory and Lyapunov direct method are employed to show the global asymptotic convergence. Advantages of the proposed fast transient tracking differentiator include the easy implementation with intuitive structure and high computational efficiency and faster transient and higher noise attenuation for both small and large initial estimation errors. The proposed fast transient tracking differentiator can be applied to a large class of motion systems by cascading to a robust output feedback proportional–derivative control for fast and high-precision positioning with position measurement only. Numerical simulation and real-time experimental comparisons demonstrate that the proposed approach provides an easygoing model-free output feedback solution for fast and accurate velocity reconstruction and high-performance positioning of uncertain motion systems with position measurement only.

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Section: Numerical Simulationsmentioning

confidence: 99%

Section: Numerical Simulationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 97%

“…23 Most recently, a hybrid TD is constructed by an improved sigmoid function in Song et al 24 A fast exponential integral NTD (EITD) is proposed for small error estimation. 25…”

Section: Introductionmentioning

confidence: 99%