Reduced-Order Observer Design for Robot Manipulators

被引：5

作者：

Cristofaro, Andrea ^{[1
]}

De Luca, Alessandro ^{[1
]}

机构：

[1] Sapienza Univ Rome, Dept Comp Control & Management Engn, I-00185 Rome, Italy

来源：

IEEE CONTROL SYSTEMS LETTERS | 2023年 / 7卷

关键词：

Observers; Symmetric matrices; Switches; Stability analysis; Manipulator dynamics; Lyapunov methods; Estimation error; Robot manipulators; observer design; hybrid systems; STATE;

D O I：

10.1109/LCSYS.2022.3196432

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This letter 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.

引用

页码：520 / 525

页数：6

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