Parameter selection guidelines for a parabolic sliding mode filter based on frequency and time domain characteristics

Shanhai Jin, Ryo Kikuuwe, Motoji Yamamoto

Research output: Contribution to journalArticle

15 Citations (Scopus)

Abstract

This paper presents the results of quantitative performance evaluation of an authors' new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

Original languageEnglish
Article number923679
JournalJournal of Control Science and Engineering
Volume2012
DOIs
Publication statusPublished - Dec 1 2012

Fingerprint

Parameter Selection
Sliding Mode
Frequency Domain
Time Domain
Butterworth filters
Filter
Mechatronics
Force control
Low pass filters
Manipulators
Robotics
Robots
Phase-lag
Maximum Degree
Robot Manipulator
Low-pass Filter
Force Control
Quantitative Evaluation
Overshoot
Evaluation

All Science Journal Classification (ASJC) codes

  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Parameter selection guidelines for a parabolic sliding mode filter based on frequency and time domain characteristics. / Jin, Shanhai; Kikuuwe, Ryo; Yamamoto, Motoji.

In: Journal of Control Science and Engineering, Vol. 2012, 923679, 01.12.2012.

Research output: Contribution to journalArticle

@article{fc23242cea5948c3938733b756155dc0,
title = "Parameter selection guidelines for a parabolic sliding mode filter based on frequency and time domain characteristics",
abstract = "This paper presents the results of quantitative performance evaluation of an authors' new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.",
author = "Shanhai Jin and Ryo Kikuuwe and Motoji Yamamoto",
year = "2012",
month = "12",
day = "1",
doi = "10.1155/2012/923679",
language = "English",
volume = "2012",
journal = "Journal of Control Science and Engineering",
issn = "1687-5249",
publisher = "Hindawi Publishing Corporation",

}

TY - JOUR

T1 - Parameter selection guidelines for a parabolic sliding mode filter based on frequency and time domain characteristics

AU - Jin, Shanhai

AU - Kikuuwe, Ryo

AU - Yamamoto, Motoji

PY - 2012/12/1

Y1 - 2012/12/1

N2 - This paper presents the results of quantitative performance evaluation of an authors' new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

AB - This paper presents the results of quantitative performance evaluation of an authors' new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on the frequency and time domain characteristics. Based on the evaluation results, the paper presents selection guidelines of two parameters of the filter. The evaluation results show that, in the frequency domain, the noise removing capability of the filter is almost the same as that of the second-order Butterworth low-pass filter (2-LPF), but its phase lag is smaller (maximum 150 degree) than that of 2-LPF (maximum 180 degree). Moreover, the filter produces smaller phase lag than a conventional parabolic sliding mode filter with appropriate selection of the parameters. In the time domain, the filter produces smaller overshoot than 2-LPF and the conventional one, while maintaining short transient time, by using an appropriately selected parameter. The presented parameter selection guidelines state that the values of the parameters should be chosen according to some estimated characteristics of the input and some desired characteristics of the output. The effectiveness of the filter and the presented guidelines is validated through numerical examples and their application to a closed-loop, force control of a robot manipulator.

UR - http://www.scopus.com/inward/record.url?scp=84872824462&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84872824462&partnerID=8YFLogxK

U2 - 10.1155/2012/923679

DO - 10.1155/2012/923679

M3 - Article

AN - SCOPUS:84872824462

VL - 2012

JO - Journal of Control Science and Engineering

JF - Journal of Control Science and Engineering

SN - 1687-5249

M1 - 923679

ER -