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|Title:||A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems||Authors:||Bayrak, Alper
|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)||URI:||https://hdl.handle.net/11147/9939||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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