This paper proposes a new sliding mode filter augmented by a linear low-pass filter (LPF) for mitigating the effect of high-frequency noise. It is based on the derivation of three new variants of Jin et al.'s (2012, “Real-Time Quadratic Sliding Mode Filter for Removing Noise,” Adv. Rob., 26(8–9), pp. 877–896) parabolic sliding mode filter (J-PSMF) and investigation on their frequency-response characteristics. The new filter is developed by augmenting one of the variants of J-PSMF by a second-order linear LPF. It has better balance between the noise attenuation and signal preservation than both linear LPFs and J-PSMF. The effectiveness of the new filter is experimentally evaluated on a direct current (DC) servomotor equipped with an optical encoder. This paper also shows the application of the proposed filter to a positioning system under PDD2 (proportional, derivative, and second derivative) control, which successfully realizes the noise attenuation and the nonovershooting response simultaneously.
A New Parabolic Sliding Mode Filter Augmented by a Linear Low-Pass Filter and Its Application to Position Control
Fukuoka 819-0395, Japan
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received November 27, 2016; final manuscript received June 21, 2017; published online November 10, 2017. Assoc. Editor: Douglas Bristow.
Aung, M. T. S., Shi, Z., and Kikuuwe, R. (November 10, 2017). "A New Parabolic Sliding Mode Filter Augmented by a Linear Low-Pass Filter and Its Application to Position Control." ASME. J. Dyn. Sys., Meas., Control. April 2018; 140(4): 041005. https://doi.org/10.1115/1.4037732
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