Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7572
Title: A model-free continuous velocity observer formulation with self-tuning for mechatronic systems
Authors: Deniz, Meryem
Bayrak, Alper
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Keywords: Mechatronic systems
Velocity observers
Haptic devices
Lyapunov type stability
Priori knowledge
Issue Date: May-2018
Publisher: The American Society of Mechanical Engineers(ASME)
Source: Deniz, M., Bayrak, A., Tatlıcıoğlu, E., and Zergeroğlu, E. (2018). A model-free continuous velocity observer formulation with self-tuning for mechatronic systems. Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, 140(5). doi:10.1115/1.4038373
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.
URI: https://doi.org/10.1115/1.4038373
https://hdl.handle.net/11147/7572
ISSN: 0022-0434
0022-0434
1528-9028
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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