Interval differentiators: On-line estimation of differentiation accuracy

摘要

In this work an interval observer is proposed for on-line estimation of differentiation errors in some class of high-order differentiators (like a high-gain differentiator from, or homogeneous nonlinear differentiator from, or super-twisting differentiator). The results are verified and validated on the telescopic link of a robotic arm for forestry applications in which the mentioned approaches are used to estimate the extension velocity while the interval observer gives bounds to this estimation.