A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems
Bildiriler > Tam Metin Bildiri · 2015
Yazarlar: ALPER BAYRAK, Enver TATLICIOĞLU, ERKAN ZERGEROĞLU, Meryem Deniz
2015 IEEE Conference on Control Applications (CCA), Avustralya, Uluslararası, Tam Metin Bildiri, 2015-2015, ss 1278-1283
Özet
In this study, we present a smooth robust velocity observer for a class of uncertain nonlinear mechanical systems. The smoothness of the observers is guaranteed by utilizing hyperbolic tangent function as opposed to signum-type functions applied in most robust and sliding mode observers found in the literature. The proposed observer does not require a priori knowledge of an upper bound of the uncertain system dynamics and introduces a time-varying observer gain for uncertainty compensation. Practical stability of the observer error is ensured via Lyapunov-type stability analysis. Numerical simulation studies backed up by experimental results are presented to illustrate the performance of the proposed observer.