Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği

Permanent URI for this collectionhttps://hdl.handle.net/11147/11

Browse

Filters

20181

Settings

Author: search.filters.author.Zergeroğlu, ErkanInstitution Author: search.filters.institutionAuthor.Deniz, Meryem

Search Results

Now showing 1 - 1 of 1
  • Article
    Citation - WoS: 4
    Citation - Scopus: 3
    A Model-Free Continuous Velocity Observer Formulation With Self-Tuning for Mechatronic Systems
    (The American Society of Mechanical Engineers(ASME), 2018) Deniz, Meryem; Bayrak, Alper; Tatlıcıoğlu, Enver; Zergeroğlu, Erkan
    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.