An Experimental Investigation of Discretized Homogeneous Differentiators: Pneumatic Actuator Case
Loïc Michel, Subiksha Selvarajan, Malek Ghanes, Franck Plestan, Yannick Aoustin, Jean‐Pierre Barbot
2021IEEE Journal of Emerging and Selected Topics in Industrial Electronics22 citationsDOIOpen Access PDF
Abstract
It is well known that the homogeneous differentiator strategies reduce the chattering in the implementation of sliding-mode algorithms and the recent implicit framework based projector provides very interesting properties when associated with homogeneous design. In this article, it is proposed to evaluate different strategies of homogeneous differentiators based on Euler explicit and promising Euler semi-implicit strategies, for which discrete implementations have been realized on a pneumatic actuator. Experimental results highlight the benefit of a Euler semi-implicit-based structure using a projector.
Topics & Concepts
DifferentiatorActuatorHomogeneousDiscretizationEuler's formulaProjectorComputer scienceControl theory (sociology)Control engineeringMathematicsEngineeringArtificial intelligenceControl (management)Mathematical analysisBandwidth (computing)Computer networkCombinatoricsRobotic Mechanisms and DynamicsDynamics and Control of Mechanical SystemsIterative Learning Control Systems