Deniz, MeryemBayrak, AlperTatlıcıoğlu, EnverZergeroğlu, Erkan2021-06-232021-06-2320180022-04341528-9028https://doi.org/10.1115/1.4038373https://hdl.handle.net/20.500.12491/9614In 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.eninfo:eu-repo/semantics/openAccessControl TheoryRoboticsDesignErrorsStabilityPhantom OmniDynamic modelsUncertaintyArticle10.1115/1.403837314052-s2.0-85039548232Q2WOS:000427042600013Q3