Reduced-order observer design for a robotic manipulator

TL;DR

This paper presents a novel reduced-order observer design for robotic manipulators that ensures stability and adaptability through a hybrid gain adjustment scheme, improving accuracy in various control scenarios.

Contribution

It introduces a hybrid gain adjustment strategy for reduced-order observers, enhancing stability and performance for robotic manipulators under different control schemes.

Findings

The proposed observer maintains stability with Lyapunov-based conditions.

Hybrid gain scheme improves observer accuracy for unbounded joint velocities.

Numerical simulations demonstrate superior performance over classical full-order observers.

Abstract

This paper investigates the design of reduced-order observers for robotic manipulators. Observer stability conditions are obtained based on a Lyapunov analysis and the proposed observer is enhanced with a hybrid scheme that may adjust the gains to cope with possible unbounded velocities of the robot joints. Thanks to such hybrid strategy, the observer works accurately both for robots driven by open-loop controllers and by output feedback controllers. Numerical simulations illustrate the efficacy of the reduced-order observer in several scenarios, including a comparison with the performances of a classical full-order observer.