Reduced-Order Observer Design for Robot Manipulators

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 hybrid scheme that may adjust gains to cope possible unbounded velocities joints. Thanks such strategy, works accurately both robots driven by open-loop controllers and output feedback controllers. Numerical simulations illustrate efficacy in several scenarios, including comparison performance classical full-order observer.