Date of Award
2025
Document Type
Thesis
Degree Name
Master of Science in Engineering (MSE)
Department
Mechanical and Aerospace Engineering
Committee Chair
Farbod Fahimi
Committee Member
Chang-kwon Kang
Committee Member
Howard Chen
Research Advisor
Farbod Fahimi
Subject(s)
Signal processing--Mathematics, Numerical differentiation, Sliding mode control
Abstract
This thesis explores the performance of higher-order sliding mode differentiators applied to sensor signals under varying sampling rates and switching functions. Two differentiator designs are evaluated: a hybrid algorithm that combines a super-twisting algorithm with a linear observer, and a fixed-time higher-order sliding mode differentiator. Each was tested on a physical sensor testbed using position data from a servomotor and electronic compass. The differentiators were implemented in a ROS2 environment, and their estimates were evaluated by obtaining the minimum and maximum position and velocity values, as well as analyzing graphs to capture the nature of the algorithms' noise reduction. The results indicate that the sampling rate and switching functions have a significant impact on performance. These findings provide insight into the robustness of higher-order differentiators for real-time signal processing.
Recommended Citation
Hamer, Jessica, "Experimental evaluation of recent theoretical real-time signal higher-order sliding mode differentiators on noisy sensors" (2025). Theses. 769.
https://louis.uah.edu/uah-theses/769