A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems
Makaleler > Tam Makale · 2017
Yazarlar: Meryem Deniz, Alper Bayrak, Enver TATLICIOĞLU, Erkan Zergeroglu
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, SCI Expanded İndekslerine Giren Dergi, Uluslararası, 2017, cilt 140
DOI: 10.1115/1.4038373
Özet
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.