A Simple Fast and Precise Acceleration Estimation for Motion Systems

Accurate acceleration is quite helpful for improving the performance of motion systems. But most practical systems cannot full access to velocity and acceleration. A simple fast and precise third-order tracking differentiator (TTD) is proposed for high-quality velocity and acceleration estimations. Global asymptotic convergence is proved by Lyapunov’s method and higher-order tracking differentiator methodology. Advantages of the proposed TTD include intuitive structure with easy implementation and precise estimation with fast transient and strong noise-tolerance. The proposed TTD is integrated with a model-free time delay control (TDC) for high-performance motion control. Simulations and experiments demonstrate the improved performance of the proposed approach.