Real-time quadratic sliding mode filter for removing noise

Shanhai Jin, Ryo Kikuuwe, Motoji Yamamoto

Research output: Contribution to journalArticlepeer-review

42 Citations (Scopus)


This paper presents a sliding mode filter for removing noise. It effectively removes impulsive noise and highfrequency noise, producing a smaller phase lag than linear filters. In addition, it is less prone to overshoot than previous sliding mode filters and it does not produce chattering. It is computationally inexpensive and thus suitable for real-time applications. The proposed sliding mode filter employs a quadratic surface as its sliding surface, which is designed so that the output converges to the input in finite time when the input value is constant. Its algorithm is derived by using the backward Euler discretization, which can be used to prevent chattering. The effectiveness of the filter was shown by experiments using an ultrasonic sensor and an optical encoder.

Original languageEnglish
Pages (from-to)877-896
Number of pages20
JournalAdvanced Robotics
Issue number8-9
Publication statusPublished - May 1 2012

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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