Abstract
This article provides a comparative study of four different second-order sliding-mode (SOSM) differentiators proposed in the literature, namely, standard higher-order sliding-mode (HOSM) differentiator, non-homogeneous HOSM differentiator, uniform robust exact differentiator and hybrid fixed-time differentiator. Based on sliding-mode principles, these differentiators can provide robust exact differentiation with finite/fixed-time convergence. First, a comprehensive summary of the different methods is provided. Then, the differentiators are applied experimentally to estimate the states of a Van der Pol oscillator. Through experiments, it is shown that the different differentiators outperformed a Kalman-like observer, high-gain differentiator and extended Kalman filter. Finally, some suggestions are provided on the selection of SOSM differentiators for various applications.
| Original language | English |
|---|---|
| Pages (from-to) | 2100-2112 |
| Number of pages | 13 |
| Journal | International Journal of Control |
| Volume | 91 |
| Issue number | 9 |
| Early online date | 16 Feb 2018 |
| DOIs | |
| Publication status | Published - 2018 |
Bibliographical note
This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Control on 16th February 2018, available online: http://www.tandfonline.com/10.1080/00207179.2018.1442023Keywords
- Sliding-mode differentiation
- Van der Pol oscillator
- real-time estimation