Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/9939
Title: | A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems | Authors: | Bayrak, Alper Tatlıcıoğlu, Enver Zergeroǧlu, Erkan Deniz, Meryem |
Issue Date: | 2015 | Publisher: | Institute of Electrical and Electronics Engineers | Series/Report no.: | IEEE International Conference on Control Applications | Abstract: | In this study, we present a smooth robust velocity observer for a class of uncertain nonlinear mechanical systems. The smoothness of the observers is guaranteed by utilizing hyperbolic tangent function as opposed to signum-type functions applied in most robust and sliding mode observers found in the literature. The proposed observer does not require a priori knowledge of an upper bound of the uncertain system dynamics and introduces a time-varying observer gain for uncertainty compensation. Practical stability of the observer error is ensured via Lyapunov-type stability analysis. Numerical simulation studies backed up by experimental results are presented to illustrate the performance of the proposed observer. | URI: | https://hdl.handle.net/11147/9939 | ISBN: | 978-1-4799-7787-1 | ISSN: | 1085-1992 |
Appears in Collections: | Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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A_new_continuous.pdf | 169.61 kB | Adobe PDF | View/Open |
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