A New Quick-Response Sliding Mode Tracking Differentiator With its Chattering-Free Discrete-Time Implementation

• Published in: IEEE access Vol. 7; pp. 130236 - 130245
• Main Authors: Lv, Zhengxiang, Jin, Shanhai, Xiong, Xiaogang, Yu, Jingdong
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Acceleration; Algorithms; Chattering avoidance; Convergence; Differentiators; Feedback control; implicit Euler discretization; Indexes; Mechatronics; Mode tracking; noise attenuation; PD control; sliding mode; Sliding mode control; tracking differentiator; Trajectory
• ISSN: 2169-3536; 2169-3536
• DOI: 10.1109/ACCESS.2019.2940262

This paper presents a new quick-response sliding mode tracking differentiator (new TD) for feedback control of mechatronic systems. The new TD is an extension of Jin et al.'s sliding mode tracking differentiator (TD-J) by employing an exponential reaching term for balancing the trade-off between noise attenuating efficiency and convergence speed. The discrete-time algorithm of the new TD is derived by using the implicit-Euler discretization and an equivalent between a set-valued signum function and a saturation function, and it does not produce chattering, which has been one major challenge of implementing sliding mode technique in discrete-time. Simulations and experiments are conducted for validating the effectiveness of the new TD.