Journal
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
Volume 46, Issue 2, Pages 227-252Publisher
ACADEMIC PRESS LTD- ELSEVIER SCIENCE LTD
DOI: 10.1016/j.ymssp.2014.02.003
Keywords
High-order continuous; Differentiator; Lead compensation; Finite-time stability; Chattering phenomenon; Quadrotor aircraft
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Funding
- Australian Research Council (ARC) [DP 0986814, DP 110104970]
- ARC linkage infrastructure, Equipment and Facilities grants [LE 0347024, LE 0668508]
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In this paper, a high-order continuous nonlinear differentiator with lead compensation is presented based on finite-time stability. Not only the proposed high-order nonlinear differentiator can obtain the high-order derivatives of a signal, but also the chattering phenomenon can be reduced sufficiently. The parameters regulation is only required to be satisfied with Routh-Hurwitz Stability Criterion. The presented differentiator is a generalization of sliding mode differentiator and linear high-gain differentiator. The merits of the continuous differentiator include its simplicity, selecting parameters easily, restraining noises sufficiently, decreasing the phase shift and avoiding the chattering phenomenon. The theoretical results are confirmed by computer simulations and an experiment on a quadrotor aircraft: (i) the estimation of flying velocity and acceleration from the position measurement; (ii) a control law is designed based on the presented nonlinear differentiator to track a reference trajectory. (C) 2014 Elsevier Ltd. All rights reserved.
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