Barrier Adaptive First Order Sliding Mode Differentiator

被引：1
|
作者：
Obeid, H. [1 ]
Fridman, L. [2 ]
Laghrouche, S. [1 ]
Harmouche, M. [3 ]
机构：
[1] Univ Bourgogne Franche Comte, UTBM, OPERA, Belfort, France
[2] Univ Nacl Autonoma Mexico, Fac Engn, Dept Robot & Control, Mexico City 04510, DF, Mexico
[3] Actility, Paris, France
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
Sliding mode control;
D O I：
10.1016/j.ifacol.2017.08.499
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
An algorithm for adaptation of first order sliding mode differentiator gains is proposed for the case when the upper bound of the second derivative exists but it is unknown. The proposed barrier adaptive algorithm can ensure the convergence of the differentiator to some vicinity of the first derivative. Then, a convergence detection criteria is used to estimate the size of this vicinity. The properties of the proposed algorithm in the presence of noise are discussed. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：1722 / 1727
页数：6
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