Interval Differentiators: on-line estimation of differentiation accuracy
Abstract
In this work an interval observer is proposed for on-line estimation of differentiation errors in some class of high-order differentiators (like a high-gain differentiator from [26], or homogeneous nonlinear differentiator from [23], or super-twisting differentiator [16]). The results are verified and validated on the telescopic link of a robotic arm for forestry applications in which the mentioned approaches are used to estimate the extension velocity while the interval observer gives bounds to this estimation.
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