A new continuous velocity observer formulation for a class of uncertain nonlinear mechanical systems
Yükleniyor...
Dosyalar
Tarih
2015
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ieee
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
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.
Açıklama
IEEE Conference on Control and Applications (CCA) -- SEP 21-23, 2015 -- Sydney, AUSTRALIA
Anahtar Kelimeler
Hyperbolic Tangent, Lyapunov-Type Stability Analysis, Mechanical Systems
Kaynak
2015 Ieee Conference On Control And Applications (Cca 2015)
WoS Q Değeri
N/A
Scopus Q Değeri
N/A
