A chattering-free discrete sliding mode filter

Abstract

This paper proposes a novel sliding mode filter, which improves Emaru et al.’s filter. Compared to previous filters, the proposed filter has a faster response speed without sacrificing filtering performance, and the output signals do not experience chattering. Specifically, the proposed filter introduces feedforward compensation as an acceleration factor, enabling the system state to accelerate convergence without affecting the noise attenuation ability. Secondly, the discrete-time algorithm of the proposed filter is achieved through the implicit Euler discretization method, and an equivalent substitution of a sign function and a saturation function, and its output signals do not generate system chattering, which is a challenge faced by sliding mode technology in discrete-time implementation. The effectiveness of the proposed filter was determined through numerical simulation.