A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems


Deniz M., Bayrak A., Tatlicioglu E. , Zergeroglu E.

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, cilt.140, 2018 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 140
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1115/1.4038373
  • Dergi Adı: JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME

Özet

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.