Worst-case error bounds for the super-twisting differentiator in presence of measurement noise

DOI10.1016/J.AUTOMATICA.2023.110983MaRDI QIDQ6160801zbMATH OpenOpenAlexFDO

Authors Richard Seeber

Publication date 26 June 2023

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2303.03116

zbMATH Keywords

Lyapunov functionaccuracysuper-twisting algorithmrobust exact differentiatordifferentiation error

Mathematics Subject Classification ID

Variable structure systems (93B12) Control/observation systems governed by ordinary differential equations (93C15) Lyapunov and storage functions (93D30)

Abstract: The super-twisting differentiator, also known as the first-order robust exact differentiator, is a well known sliding mode differentiator. In the absence of measurement noise, it achieves exact reconstruction of the time derivative of a function with bounded second derivative. This note proposes an upper bound for its worst-case differentiation error in the presence of bounded measurement noise, based on a novel Lipschitz continuous Lyapunov function. It is shown that the bound can be made arbitrarily tight and never exceeds the true worst-case differentiation error by more than a factor of two. A numerical simulation illustrates the results and also demonstrates the non-conservativeness of the proposed bound.

Recommendations

• Optimal robust exact differentiation via linear adaptive techniques
• Sharp observation error estimate for the ``super-twisting algorithm in the presence of measurement error
• Fixed-time convergent sliding-modes-based differentiators
• Robust exact uniformly convergent arbitrary order differentiator

Cites work

• scientific article; zbMATH DE number 3224758 (Why is no real title available?)
• A Hybrid Robust Non-Homogeneous Finite-Time Differentiator
• Arbitrary-Order Fixed-Time Differentiators
• Computing and Estimating the Reaching Time of the Super-Twisting Algorithm
• Error bounds in differentiation of noisy signals by high-gain observers
• Frequency-domain analysis and tuning of the algebraic differentiators
• High-gain observers in nonlinear feedback control
• Higher-order sliding modes, differentiation and output-feedback control
• Levant's Arbitrary-Order Exact Differentiator: A Lyapunov Approach
• Nonlinear systems.
• Numerical differentiation with annihilators in noisy environment
• Optimal robust exact differentiation via linear adaptive techniques
• Robust exact differentiation via sliding mode technique
• Robust exact filtering differentiators
• Special issue on differentiators
• Stability notions and Lyapunov functions for sliding mode control systems

Cited in

(3)

• Optimal robust exact differentiation via linear adaptive techniques
• Minimizing the homogeneous \(\mathcal{L}_2\)-gain of homogeneous differentiators
• Sharp observation error estimate for the ``super-twisting algorithm in the presence of measurement error

This page was built for publication: Worst-case error bounds for the super-twisting differentiator in presence of measurement noise

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6160801)