Discrete-Time Sliding Mode Filter with Adaptive Gain

Abstract

In feedback control of mechatronic systems, sensor signals are usually noisy and uncertain because of measurement errors and environmental disturbances. Such uncertainty and noise of feedback signals may cause instability of the controlled systems. This paper presents a new model-free discrete-time sliding mode filter for effectively removing noise by balancing the tradeoff between the filtering smoothness and the suppression of delay. The presented filter is an extension of a sliding mode filter (Jin et al. Real-time quadratic sliding mode filter for removing noise. Adv. Robot., 2012) by including an adaptive gain, of which value is determined in a similar way to that of a first-order adaptive windowing filter (Janabi-Sharifi et al. Discrete-time adaptive windowing for velocity estimation. IEEE Trans. Control Syst. Technol., 2000). The effectiveness of the presented filter is validated through numerical examples and experiments.

Keywords

• adaptive gain
• sliding mode filter
• nonlinear filter
• backward Euler discretization