In this article the design of a new real-time differentiator featuring global convergence properties is considered. Such a problem is tackled by means of a second-order sliding mode differentiator (2-SMD) with adjustable gain and switching logic. Due to its finite time convergence and relaxed information demand regarding the signal to differentiate, the proposed differentiator appears well suited to be combined with output-feedback controllers. In order to point out the effectiveness and the convergence features of the proposed 2-SMD, some simulations related to a global output feedback stabilisation problem are presented.
Globally convergent real-time differentiation via second order sliding modes
PISANO, ALESSANDRO;USAI, ELIO
2007-01-01
Abstract
In this article the design of a new real-time differentiator featuring global convergence properties is considered. Such a problem is tackled by means of a second-order sliding mode differentiator (2-SMD) with adjustable gain and switching logic. Due to its finite time convergence and relaxed information demand regarding the signal to differentiate, the proposed differentiator appears well suited to be combined with output-feedback controllers. In order to point out the effectiveness and the convergence features of the proposed 2-SMD, some simulations related to a global output feedback stabilisation problem are presented.
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