A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems-Reference-Cited by-同舟云学术

A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems

Published:2017-12-19 Issue:5 Volume:140 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Deniz Meryem¹,Bayrak Alper²,Tatlicioglu Enver¹,Zergeroglu Erkan³

Affiliation:

1. Department of Electrical and Electronics Engineering, Izmir Institute of Technology, Urla 35430, Izmir, Turkey e-mail:

2. Department of Electrical and Electronics Engineering, Abant Izzet Baysal University, Bolu 14280, Turkey e-mail:

3. Department of Computer Engineering, Gebze Technical University, Gebze 41400, Kocaeli, Turkey e-mail:

Abstract

In this study, the design of a smooth robust velocity observer for a class of uncertain nonlinear mechatronic systems is presented. The proposed velocity observer does not require a priori knowledge of the upper bounds of the uncertain system dynamics and introduces time-varying observer gains for uncertainty compensation. Practical stability of the velocity observation error is ensured via Lyapunov-type stability analysis. Experimental results obtained from Phantom Omni haptic device are presented to illustrate the performance of the proposed velocity observer.

Funder

Türkiye Bilimsel ve Teknolojik Araştirma Kurumu

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4038373/6126518/ds_140_05_054501.pdf

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