A New Tracking Differentiator Design Based on Minimum-jerk Constraint

Tracking differentiators are widely utilized in various control systems. To address issues such as non-smooth trajectories, end-state oscillations during transitions, and significant initial shocks in existing tracking differentiators, a novel tracking differentiator based on a minimum jerk constraint is proposed. The minimum jerk constraint is first introduced, followed by a comparison between the proposed differentiator and two commonly used nonlinear tracking differentiators. Experimental results demonstrate that the proposed tracking differentiator effectively mitigates the mentioned issues while providing the smoothest signal.