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

被引：4

作者：

Deniz, Meryem ^{[1
]}

Bayrak, Alper ^{[2
]}

Tatlicioglu, Enver ^{[1
]}

Zergeroglu, Erkan ^{[3
]}

机构：

[1] Izmir Inst Technol, Dept Elect & Elect Engn, TR-35430 Izmir, Turkey

[2] Abant Izzet Baysal Univ, Dept Elect & Elect Engn, TR-14280 Bolu, Turkey

[3] Gebze Tech Univ, Dept Comp Engn, TR-41400 Gebze, Kocaeli, Turkey

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2018年 / 140卷 / 05期

关键词：

UNCERTAIN DYNAMIC-SYSTEMS; MECHANICAL SYSTEMS; OUTPUT-FEEDBACK; ROBOT MANIPULATORS; NONLINEAR-SYSTEMS; STATE OBSERVATION;

D O I：

10.1115/1.4038373

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：4

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