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

作者：Deniz Meryem; Bayrak Alper; Tatlicioglu Enver; Zergeroglu Erkan

来源：Journal of Dynamic Systems Measurement and Control-Transactions of the ASME, 2018, 140(5): 054501.

DOI：10.1115/1.4038373

<jats:p>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.</jats:p>

• 出版日期2018-5