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.
A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received June 3, 2016; final manuscript received October 10, 2017; published online December 19, 2017. Assoc. Editor: Azim Eskandarian.
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Deniz, M., Bayrak, A., Tatlicioglu, E., and Zergeroglu, E. (December 19, 2017). "A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems." ASME. J. Dyn. Sys., Meas., Control. May 2018; 140(5): 054501. https://doi.org/10.1115/1.4038373
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