Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/5768
Title: A self-tuning velocity observer formulation for a class of nonlinear systems
Authors: Bıdıklı, Barış
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Tatlıcıoğlu, Enver
Izmir Institute of Technology. Electronics and Communication Engineering
Keywords: Nonlinear systems
Controllers
Euler-Lagrange formulation
Velocity observer
Issue Date: 2016
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Bıdıklı, B., Tatlıcıoğlu, E., and Zergeroğlu, E. (2016, December 12-14). A self-tuning velocity observer formulation for a class of nonlinear systems. Paper presented at the IEEE 55th Conference on Decision and Control (CDC). doi:10.1109/CDC.2016.7798834
Abstract: This work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed formulation are tuned online according to an update algorithm removing the burden of observation gain tuning. Lyapunov based arguments are applied to prove the overall system stability. Performance of the observer proposed is illustrated via extensive simulation studies. Experimental studies are also utilized to demonstrate the viability of the proposed formulation.
Description: 55th IEEE Conference on Decision and Control, CDC 2016; ARIA Resort and CasinoLas Vegas; United States; 12 December 2016 through 14 December 2016
URI: http://doi.org/10.1109/CDC.2016.7798834
http://hdl.handle.net/11147/5768
ISBN: 9781509018376
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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