An exact robust high-order differentiator with hyperexponential convergence - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Article Dans Une Revue IEEE Transactions on Automatic Control Année : 2024

An exact robust high-order differentiator with hyperexponential convergence

Jian Wang
  • Fonction : Auteur
  • PersonId : 737345
  • IdHAL : jian-wang
Konstantin Zimenko
  • Fonction : Auteur
  • PersonId : 1086276

Résumé

A linear time-varying state observer is presented for a chain of integrators having bounded disturbances in the last equation. It is demonstrated that in the noise-free setting, for the continuous-time realization, the estimation error converges to zero with a hyperexponential rate (faster than any exponential) uniformly in the disturbance. An implicit discretization scheme of the observer is proposed, which in the discrete time preserves all main properties of the continuous-time counterpart. In addition, the discrete-time estimation error is robustly stable with respect to the measurement noise. The efficiency of the suggested observer is illustrated through comparison with a linear high-gain observer and a sliding mode high-order differentiator.

Domaines

Automatique
Fichier principal
Vignette du fichier
Hyp_Diff_J.pdf (1.6 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04663468 , version 1 (28-07-2024)

Licence

Identifiants

  • HAL Id : hal-04663468 , version 1

Citer

Jian Wang, Konstantin Zimenko, Andrey Polyakov, Denis Efimov. An exact robust high-order differentiator with hyperexponential convergence. IEEE Transactions on Automatic Control, In press. ⟨hal-04663468⟩
37 Consultations
22 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More