改进的反正切跟踪微分器设计

摘要： 针对反正切跟踪微分器存在设计参数多、整定困难和噪声抑制能力有限等不足，提出了一种改进反正切跟踪微分器（Modified Arctangent based Tracking Differentiator, MATD）.通过引入非线性函数和简化设计参数构造了MATD的跟踪函数，证明了其全局一致渐近稳定性.在分析MATD跟踪函数的状态收敛过程的基础上，阐述了其改进机制，并通过分析设计参数不同取值对频域特性的影响，得到了MATD的参数整定规则.仿真结果表明，MATD响应快速，精度较高，且具有更强的噪声抑制能力.

Design of a Modified Arctangent Based Tracking Differentiator

Abstract： A modified arctangent based tracking differentiator (MATD) was designed to improve the performance of arctangent based tracking differentiator with the difficulty of parameter adjustment and poor ability of noise restraint. First, the tracking function of MATD was constructed by introducing the nonlinear function and reducing design parameters, and its global uniformly asymptotical stability was proved. Then, the improvement mechanism of MATD was shown based on the convergence analysis of the tracking function of MATD. Finally, the parameter adjustment rule of MATD was obtained via analyzing the effects parameters on frequency domain characteristics. Simulation results demonstrate that MATD has the advantages of fast response, high precision and strong ability of noise restraint.