Real-time quadratic sliding mode filter for removing noise

Shanhai Jin, Ryo Kikuuwe, Motoji Yamamoto

研究成果: ジャーナルへの寄稿学術誌査読

42 被引用数 (Scopus)

抄録

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.

本文言語英語
ページ(範囲)877-896
ページ数20
ジャーナルAdvanced Robotics
26
8-9
DOI
出版ステータス出版済み - 5月 1 2012

!!!All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人間とコンピュータの相互作用
  • ハードウェアとアーキテクチャ
  • コンピュータ サイエンスの応用

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