Robust-Exact-Differentiator-Inspired Discrete-Time Differentiation

被引：4

作者：

Ruediger-Wetzlinger, Maximilian ^{[1
]}

Reichhartinger, Markus ^{[1
]}

Horn, Martin ^{[2
]}

机构：

[1] Graz Univ Technol, Inst Automat & Control, A-8010 Graz, Austria

[2] Graz Univ Technol, Inst Automat & Control, Christian Doppler Lab Model Based Control Complex, A-8010 Graz, Austria

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2022年 / 67卷 / 06期

关键词：

Eigenvalues and eigenfunctions; Convergence; Heuristic algorithms; Asymptotic stability; Tuning; Stability criteria; Perturbation methods; Discrete-time systems; sliding-mode control; stability of nonlinear systems; FINITE-TIME; NONLINEAR-SYSTEMS; STABILIZATION; OBSERVER; ORDER; DESIGN;

D O I：

10.1109/TAC.2021.3093522

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article proposes a discrete-time differentiation algorithm of arbitrary order inspired by the continuous-time uniform robust exact differentiator and the continuous-time arbitrary-order robust exact differentiator. As the well-known explicit Euler method is not suitable for discretizing algorithms with the fixed-time convergence property, a semi-implicit approach is proposed. The discrete-time differentiators of orders 2 and 3 are studied in detail, and it is proven that the estimation errors vanish independent of their initial condition in the unperturbed case. In the presence of perturbations, it is shown that the origin of the estimation errors is surrounded by an attractive set. Furthermore, the performance of the proposed algorithm is evaluated via simulation studies.

引用

页码：3059 / 3066

页数：8

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