A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems

dc.authorid0000-0001-5623-9975en_US
dc.authorid0000-0003-1851-8951
dc.contributor.authorDeniz, Meryem
dc.contributor.authorBayrak, Alper
dc.contributor.authorTatlıcıoğlu, Enver
dc.contributor.authorZergeroğlu, Erkan
dc.date.accessioned2021-06-23T19:49:47Z
dc.date.available2021-06-23T19:49:47Z
dc.date.issued2018
dc.departmentBAİBÜ, Mühendislik Fakültesi, Elektrik Elektronik Mühendisliği Bölümüen_US
dc.description.abstractIn 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.doi10.1115/1.4038373
dc.identifier.issn0022-0434
dc.identifier.issn1528-9028
dc.identifier.issue5en_US
dc.identifier.scopus2-s2.0-85039548232en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.urihttps://doi.org/10.1115/1.4038373
dc.identifier.urihttps://hdl.handle.net/20.500.12491/9614
dc.identifier.volume140en_US
dc.identifier.wosWOS:000427042600013en_US
dc.identifier.wosqualityQ3en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.institutionauthorBayrak, Alper
dc.language.isoenen_US
dc.publisherAsmeen_US
dc.relation.ispartofJournal Of Dynamic Systems Measurement And Control-Transactions Of The Asmeen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectControl Theoryen_US
dc.subjectRobotics
dc.subjectDesign
dc.subjectErrors
dc.subjectStability
dc.subjectPhantom Omni
dc.subjectDynamic models
dc.subjectUncertainty
dc.titleA Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systemsen_US
dc.typeArticleen_US

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