A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems
Küçük Resim Yok
Tarih
2018
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Asme
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
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.
Açıklama
Anahtar Kelimeler
Control Theory, Robotics, Design, Errors, Stability, Phantom Omni, Dynamic models, Uncertainty
Kaynak
Journal Of Dynamic Systems Measurement And Control-Transactions Of The Asme
WoS Q Değeri
Q3
Scopus Q Değeri
Q2
Cilt
140
Sayı
5
