The new differentiators are important for applications where the first, second, or higher-order derivative of a digital signal is required to be accurate at mid-range frequencies. In this paper hybrid optimization method is proposed for the design of digital differentiator. The proposed method explores and exploits the search space locally as well as globally to formulate the error between the ...

UAV flying in the air is affected by external airflow factors, and system has characteristics of underdrive, nonlinear uncertainty, which makes flight state become complicated. The trajectory tracking studied using Active disturbance rejection control (ADRC) algorithm. ADRC algorithms include differentiator, extended observer error feedback law. active decoupling track studied, introduces stati...

A new type of proportional plus sliding mode inversion controller is constructed and applied to solve the attack angle tracking problem missile pitch channel; At same time, in order differential explosion backstepping control, a method combining an integral surface with accurate differentiator proposed derivative desired angular rate signal; last, kind Lyapunov function prove stability boundnes...

The impact of quantization noise on a signal whose rate is to be estimated using a FIR differentiator is analyzed, concentrating on the important constant-rate case in order that the filter be optimized for systems with low-frequency rates of change. Formulae for the mean-squared error of the filter, the corresponding spectral characteristics, and general formulae governing the filter coefficie...

This paper comparatively evaluates the effect of real-time velocity estimation methods on passivity and fidelity of virtual walls implemented using haptic interfaces. Impedance width, or Z-width is a fundamental measure of performance in haptic devices. Limited accuracy of velocity estimates from position encoder data is an impediment in improving the Zwidth in haptic interfaces. We study the e...

In this paper, design of linear phase FIR digital differentiators is investigated using convex optimization. The problem of differentiator design is first described in terms of convex optimization with different optimization variables’ options, taken one at a time. The method is then used to design first order low pass differentiators and results are compared with Salesnick’s technique and Park...

A hybrid nonlinear differentiator being fit for rapid convergence is presented, which is based on singular perturbation technique and consists of linear and nonlinear parts. This differentiator is simple and can converge rapidly at all times, and no chattering phenomena happen. The theoretical results are confirmed by computer simulations and an experiment.