A Self Tuning Velocity Observer Formulation for a Class of Nonlinear Systems

Bidikli B., TATLICIOĞLU E., ZERGEROĞLU E.

55th IEEE Conference on Decision and Control (CDC), Nevada, United States Of America, 12 - 14 December 2016, pp.3751-3756, (Full Text) identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/cdc.2016.7798834
  • City: Nevada
  • Country: United States Of America
  • Page Numbers: pp.3751-3756
  • Dokuz Eylül University Affiliated: Yes

Abstract

This work presents the design and the corresponding stability analysis of a model free velocity observer formulation for nonlinear systems modeled by Euler-Lagrange formulation. The observation gains of the proposed formulation are tuned online according to an update algorithm removing the burden of observation gain tuning. Lyapunov based arguments are applied to prove the overall system stability. Performance of the observer proposed is illustrated via extensive simulation studies. Experimental studies are also utilized to demonstrate the viability of the proposed formulation.