An arbitrary-order differentiator design paradigm with adaptive gains
An arbitrary-order differentiator design paradigm with adaptive gains
复制标题
具有自适应增益的任意阶微分器设计范例
DOI：
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发表时间：
2018
影响因子：
2.1
通讯作者：
S. Spurgeon
中科院分区：
文献类型：
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作者：
M. Reichhartinger;S. Spurgeon
摘要高阶滑模微分器在文献中得到了广泛的关注。对于重构一阶导数的情况，微分器的理论收敛条件是可用的，从该条件可以选择微分器参数。对于高阶导数的情况下，一些参数设置已建议为某些阶的微分器，但没有调整算法可用于确定收敛参数的微分器的任意阶。虽然认识到强大的理论特性的滑模微分器，从业者报告的困难，从一个单一的微分器参数集实现宽包络性能。本文提出了一种建设性的设计范例，以产生微分器参数，这被认为是提供一个自然的框架，以方便简单的在线适应所选择的增益。仿真实验以及实验结果来证明所提出的方法。
ABSTRACT Higher order sliding-mode differentiators have received a great deal of attention in the literature. For the case of reconstructing the first derivative, theoretical convergence conditions for the differentiator are available from which differentiator parameters may be selected. For the case of higher order derivatives, some parameter settings have been suggested for differentiators of certain order but there is no tuning algorithm available to determine convergent parameters for differentiators of arbitrary order. Whilst recognising the strong theoretical properties of sliding-mode differentiators, practitioners report difficulties in achieving wide envelope performance from a single set of differentiator parameters. This paper proposes a constructive design paradigm to generate differentiator parameters which is seen to provide a natural framework to facilitate simple online adaptation of the chosen gains. Simulation experiments as well as experimental results are presented to demonstrate the proposed approach.