Related papers: A Discrete-Time Matching Filtering Differentiator
This paper deals with the design of discrete-time algorithms for the robust filtering differentiator. Two discrete-time realizations of the filtering differentiator are introduced. The first one, which is based on an exact discretization of…
The problem of differentiating a function with bounded second derivative in the presence of bounded measurement noise is considered in both continuous-time and sampled-data settings. Fundamental performance limitations of causal…
A nonlinear differentiator being fit for rapid convergence is presented, which is based on singular perturbation technique. The differentiator design can not only sufficiently reduce the chattering phenomenon of derivative estimation by…
This paper presents an adaptive causal discrete-time filter for derivative estimation, exemplified by its use in estimating relative velocity in a mechatronic application. The filter is based on a constrained least squares estimator with…
The signal differentiation problem involves the development of algorithms that allow to recover a signal's derivatives from noisy measurements. This paper develops a first-order differentiator with the following combination of properties:…
This paper proposes a differentiator for sampled signals with bounded noise and bounded second derivative. It is based on a linear program derived from the available sample information and requires no further tuning beyond the noise and…
In digital sliding mode control implementations, discretization-induced chattering and inter-sample blindness can severely degrade the closed-loop performance, especially in case of fast perturbations. This paper addresses these challenges…
In this paper, we study the discrete time filtering problems for linear systems driven by fractional noises. The main difficulty comes from the non-Markovian of the noises. We construct the difference equation of the covariance process…
In this paper, a higher-order time-discretization scheme is proposed, where the iterates approximate the solution of the stochastic semilinear wave equation driven by multiplicative noise with general drift and diffusion. We employ a…
This paper considers the implicit Euler discretization of Levant's arbitrary order robust exact differentiator in presence of sampled measurements. Existing implicit discretizations of that differentiator are shown to exhibit either…
A novel strategy aimed at cooperatively differentiating a signal among multiple interacting agents is introduced, where none of the agents needs to know which agent is the leader, i.e. the one producing the signal to be differentiated.…
A novel switching differentiator that has considerably simple form is proposed. Under the assumption that time-derivatives of the signal are norm-bounded, it is shown that estimation errors are convergent to the zeros asymptotically. The…
Differentiation is an important task in control, observation and fault detection. Levant's differentiator is unique, since it is able to estimate exactly and robustly the derivatives of a signal with a bounded high-order derivative.…
This paper derives recursion equations for a robust smoothing problem for a class of nonlinear systems with uncertainties in modeling and exogenous noise sources. The systems considered operate in discrete-time and the uncertainties are…
The paper proposes an algorithm for a discretization (sampled-time implementation) of a homogeneous control preserving the finite-time and nearly fixed-time stability property of the original (sampling-free) system. The sampling period is…
In this paper, we propose a novel predictive safety filter that is robust to bounded perturbations and is implemented in an even-triggered fashion to reduce online computation. The proposed safety filter extends upon existing work to reject…
There is a growing interest in differentiation algorithms that converge in fixed time with a predefined Upper Bound on the Settling Time (UBST). However, existing differentiation algorithms are limited to signals having an $n$-th order…
The super-twisting differentiator, also known as the first-order robust exact differentiator, is a well known sliding mode differentiator. In the absence of measurement noise, it achieves exact reconstruction of the time derivative of a…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
We consider the problem of discrete-time signal denoising, focusing on a specific family of non-linear convolution-type estimators. Each such estimator is associated with a time-invariant filter which is obtained adaptively, by solving a…