ABSTRACT

In this paper, a tracking differentiator with novel acceleration function is proposed. An exponential integral function with adjustable slope near the equilibrium point is designed as an acceleration function to construct the tracking differentiator. By adding the linear function and the terminal attractor function to the tracking differentiator, the tracking performance and response speed are improved compared with the existing acceleration function. The frequency domain characteristics are analyzed based on the least squares sweep test and the stability is proved by Lyapunov method. Numerical simulations show that the rapid exponential integral nonlinear tracking differentiator can effectively suppress the high-frequency noise and make the tracking input signal more accurate.

摘要

在本文中，提出了一种具有新颖加速度函数的跟踪微分器。设计了一个在平衡点附近斜率可调的指数积分函数作为加速度函数来构造跟踪微分器。通过在跟踪微分器中加入线性函数和末端吸引子函数，与现有的加速函数相比，提高了跟踪性能和响应速度。基于最小二乘扫描测试分析了频域特性，并通过Lyapunov方法证明了稳定性。数值仿真表明，快速指数积分非线性跟踪微分器可以有效抑制高频噪声，使跟踪输入信号更加准确。