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Technical Brief

A Model-Free Continuous Velocity Observer Formulation with Self-tuning for Mechatronic Systems

[+] Author and Article Information
Meryem Deniz

Department of Electrical & Electronics Engineering, Izmir Institute of Technology, Urla, Izmir, Turkey, 35430
meryemdeniz@iyte.edu.tr

Alper Bayrak

Department of Electrical & Electronics Engineering, Abant Izzet Baysal University, Bolu, Turkey, 14280
alperbayrak@ibu.edu.tr

Enver Tatlicioglu

Department of Electrical & Electronics Engineering, Izmir Institute of Technology, Urla, Izmir, Turkey, 35430
envertatlicioglu@iyte.edu.tr

Erkan Zergeroglu

Department of Computer Engineering, Gebze Technical University, Gebze, Kocaeli, Turkey, 41400
e.zerger@gtu.edu.tr

1Corresponding author.

ASME doi:10.1115/1.4038373 History: Received June 03, 2016; Revised October 10, 2017

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.

Copyright (c) 2017 by ASME
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