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Title: A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems
Authors: Bayrak, Alper
Tatlıcıoğlu, Enver
Zergeroğlu, Erkan
Deniz, Meryem
Issue Date: 2015
Publisher: Institute of Electrical and Electronics Engineers Inc.
Series/Report no.: IEEE International Conference on Control Applications
Abstract: 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.
Description: IEEE Conference on Control and Applications (CCA)
ISBN: 978-1-4799-7787-1
ISSN: 1085-1992
Appears in Collections:Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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