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

DOI10.1016/J.AUTOMATICA.2023.110983zbMATH Open1519.93107arXiv2303.03116OpenAlexW4323696958MaRDI QIDQ6160801FDOQ6160801

Authors: Richard Seeber 

Publication date: 26 June 2023

Published in: Automatica (Search for Journal in Brave)

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.

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

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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)

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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

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