This paper investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. 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 performance of a classical full-order observer.

Reduced-Order Observer Design for Robot Manipulators / Cristofaro, Andrea; DE LUCA, Alessandro. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 7:(2023), pp. 520-525. [10.1109/LCSYS.2022.3196432]

Reduced-Order Observer Design for Robot Manipulators

Andrea Cristofaro
;
Alessandro De Luca
2023

Abstract

This paper investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. 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 performance of a classical full-order observer.
2023
robot manipulators; observer design; hybrid systems
01 Pubblicazione su rivista::01a Articolo in rivista
Reduced-Order Observer Design for Robot Manipulators / Cristofaro, Andrea; DE LUCA, Alessandro. - In: IEEE CONTROL SYSTEMS LETTERS. - ISSN 2475-1456. - 7:(2023), pp. 520-525. [10.1109/LCSYS.2022.3196432]
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1652311
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