Optimal gain for the Super-Twisting differentiator in the presence of measurement noise

Author

Angulo, M.T. ; Moreno, Jaime A. ; Fridman, L.

Author_Institution

Fac. de Ing., Univ. Nac. Autonoma de Mexico (UNAM), Mexico City, Mexico

fYear

2012

fDate

27-29 June 2012

Firstpage

6154

Lastpage

6159

Abstract

A method to compute the differentiation error in presence of bounded measurement noise for the family of Generalized Super-Twisting differentiators is presented. The proposed method allows choosing the optimal gain of each differentiator in the family providing the smallest ultimate bound of the differentiation error. In particular, an heuristic formula for the optimal gain of the pure Super-Twisting differentiator is presented. A numerical analysis comparing the performance of linear High-Gain and Super-Twisting differentiators is presented.

Keywords

differentiation; measurement errors; numerical analysis; optimal control; variable structure systems; bounded measurement noise; differentiation error; generalized super-twisting differentiators; heuristic formula; linear high-gain differentiators; numerical analysis; optimal gain; Equations; Gain measurement; Measurement uncertainty; Noise; Noise measurement; Robustness; Trajectory; differentiator; noise; optimal; sliding-mode;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2012

Conference_Location

Montreal, QC

ISSN

0743-1619

Print_ISBN

978-1-4577-1095-7

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2012.6314917

Filename

6314917