A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems
dc.authorid | 0000-0001-5623-9975 | en_US |
dc.authorid | 0000-0003-1851-8951 | |
dc.contributor.author | Deniz, Meryem | |
dc.contributor.author | Bayrak, Alper | |
dc.contributor.author | Tatlıcıoğlu, Enver | |
dc.contributor.author | Zergeroğlu, Erkan | |
dc.date.accessioned | 2021-06-23T19:49:47Z | |
dc.date.available | 2021-06-23T19:49:47Z | |
dc.date.issued | 2018 | |
dc.department | BAİBÜ, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği Bölümü | en_US |
dc.description.abstract | 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. | en_US |
dc.identifier.doi | 10.1115/1.4038373 | |
dc.identifier.issn | 0022-0434 | |
dc.identifier.issn | 1528-9028 | |
dc.identifier.issue | 5 | en_US |
dc.identifier.scopus | 2-s2.0-85039548232 | en_US |
dc.identifier.scopusquality | Q2 | en_US |
dc.identifier.uri | https://doi.org/10.1115/1.4038373 | |
dc.identifier.uri | https://hdl.handle.net/20.500.12491/9614 | |
dc.identifier.volume | 140 | en_US |
dc.identifier.wos | WOS:000427042600013 | en_US |
dc.identifier.wosquality | Q3 | en_US |
dc.indekslendigikaynak | Web of Science | en_US |
dc.indekslendigikaynak | Scopus | en_US |
dc.institutionauthor | Bayrak, Alper | |
dc.language.iso | en | en_US |
dc.publisher | Asme | en_US |
dc.relation.ispartof | Journal Of Dynamic Systems Measurement And Control-Transactions Of The Asme | en_US |
dc.relation.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Control Theory | en_US |
dc.subject | Robotics | |
dc.subject | Design | |
dc.subject | Errors | |
dc.subject | Stability | |
dc.subject | Phantom Omni | |
dc.subject | Dynamic models | |
dc.subject | Uncertainty | |
dc.title | A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems | en_US |
dc.type | Article | en_US |