Work

A contraction theory based nonlinear tracking differentiator with variable damping ratio

Year: 2025

Type: article

Abstract: Nonlinear tracking differentiator (NTD) is a powerful tool for achieving differential signals. Although numerous studies considering NTD have been carried out, the convergence analysis of NTD in these works is accomplished by the Lyapunov method, which is quite complex and needs unrealistic assumptions. Contraction theory, a newly proposed system analysis tool, is particularly effective in analyzing nonlinear non-autonomous systems. Motivated by these considerations, this paper proposed an NTD with variable damping (VD-NTD) based on contraction theory. Firstly, the convergence of NTD is performed with contraction theory, which is much simpler than the traditional Lyapunov-based method. Secondly, the optimization of NTD is done based on its characteristics. Also, the convergence of the proposed VD-NTD is verified elegantly by contraction theory. Finally, simulations on sinusoidal signals, filtered square waves, and complex signals with sudden changes have been carried out, the proposed method not only acquires better performance but is more robust to unpredictable disturbances.

Source: Measurement and Control

DOI: 10.1177/00202940251381642

Authors: Ye Chen, Min Gao, Hantao Chen, Hongxiang Zhang, Ying Wang

Institutions: Dalian University of Technology, Zhejiang University of Water Resource and Electric Power, Takamatsu Machinery Co., Ltd. (Japan)

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,000

Funders: National Natural Science Foundation of China, National Key Research and Development Program of China