改进的跟踪微分器设计  

Design of an improved tracking differentiator

作　　者：葛连正[1] 陈健[1] 李瑞峰[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《吉林大学学报（工学版）》2011年第5期1439-1443,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2007AA041702);机器人技术及系统国家重点实验室基金项目(SKLRS200802A02)

摘　　要：为了提高跟踪微分器的鲁棒性,本文在深入分析非线性滑模跟踪微分器的基础上,利用李亚普诺夫稳定性定理提出一种改进的二阶滑模非线性跟踪微分器。该跟踪微分器综合了线性跟踪微分器和非线性跟踪微分器的优点,可实现任意信号的跟踪和微分,并且结构简单、易于实现。最后对该跟踪微分器和超螺旋跟踪微分器进行了仿真,结果验证了改进的二阶滑模跟踪微分器能够有效削弱超螺旋跟踪微分器微分输出的抖振现象。To improve the robustness of tracking differentiator,the nonlinear sliding mode tracking differentiator is analyzed in details in this paper.Then an improved second-order sliding mode tracking differentiator is presented using Lyapunov stability theory.Integrating the characteristics of linear and nonlinear tracking differentiators,the proposed tracking differentiator can track and differentiate any signal;meanwhile,its structure is simple and it is easy for application.Numerical simulations are carried out on this improved tracking differentiator and on a super-twisting tracking differentiator.Results show that the improved tracking differentiator can reduce the chartering of differential signal.

关 键 词：跟踪微分器 鲁棒性 二阶滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]