Improving the Rapidity of Nonlinear Tracking Differentiator via Feedforward

Tian, Dapeng; Shen, Honghai; Dai, Ming

doi:10.1109/tie.2013.2262754

Cited by 72 publications

(35 citation statements)

References 25 publications

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“…(1), there exists ρ i ∈ (0, 1] , i = 1, · · · , n, and a nonnegative constant a such that (2) where z i , z i ∈ R, i = 1, · · · , n, j = 1, · · · , n.…”

Section: Preliminaries and Backgroundmentioning

confidence: 99%

Nonlinear Double-Integral Observer and Application to Quadrotor Aircraft

Wang

Shirinzadeh

Ang

2015

IEEE Trans. Ind. Electron.

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This paper presents a nonlinear double-integral observer based on finite-time stability. The proposed doubleintegral observer can estimate the 1-fold and double integrals of a signal synchronously, and the stability in time domain is analysed. The merits of the presented double-integral observer include its finite-time stability, ease of parameters selection, sufficient stochastic noise rejection and almost no drift phenomenon. The theoretical results are confirmed by the simulations and an experiment on a quadrotor aircraft: i) the estimation of position and velocity from the acceleration measurement; ii) a control law is designed based on the double-integral observer to track a reference trajectory.Index Terms-Double-integral observer, drift phenomenon, quadrotor aircraft.

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“…(1), there exists ρ i ∈ (0, 1] , i = 1, · · · , n, and a nonnegative constant a such that (2) where z i , z i ∈ R, i = 1, · · · , n, j = 1, · · · , n.…”

Section: Preliminaries and Backgroundmentioning

confidence: 99%

Nonlinear Double-Integral Observer and Application to Quadrotor Aircraft

Wang

Shirinzadeh

Ang

2015

IEEE Trans. Ind. Electron.

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“…This method has its strong theory support in mathematics and good feasibility in engineering. So NTD has attracted much more attention [27][28][29][30] since it came into being. In construction of TD, the selection of comprehensive control function is the key problem.…”

Section: Tracking Differentiator Design Based On Hyperbolic Tangent Fmentioning

confidence: 99%

Active Fault Tolerant Control Based on a Novel Tracking Differentiator for Elevating Stage Control System

Mao¹,

Li²,

Feng³

2018

Journal of Control Science and Engineering

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In view of the speed sensor faults in elevating stage control system, an active fault tolerant control approach based on a novel tracking differentiator is proposed in this paper. First, the analytical redundancy relationship between the velocity and displacement signals in a dual closed loop control system is used to detect a fault. When the deviation between the differential of normal displacement sensor signal and the fault speed sensor output exceeds a certain threshold value, a fault can be considered to occur. Secondly, after a fault is detected, the output of the fault sensor is replaced immediately with the differential signal of the output from a normal sensor to ensure the safety of the postfault system. In the process of signal differential, considering the drawbacks of the traditional method which uses inertial element to approximate differentiator and complex parameter tuning of Han's Tracking Differentiator (TD), a novel tracking differentiator based on hyperbolic tangent function (Tanh-TD) is designed. Thirdly, in order to avoid the switching vibration and improve the reliability of FDD, a continuous smooth switching tactic based on exponential function is constructed. The simulation results show that the fault diagnosis method is simple and timely, the designed tracking differentiator is fast and effective, and the effect of the fault tolerant control based on smooth switching strategy is also satisfactory.

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“…(6) Then the minimum time problem is to solve equation (6) and also minimize the number , i.e., to solve the quasi-algebraic equation (6).…”

Section: Minimum Time Tdmentioning

confidence: 99%