Decentralized Observer Design for Virtual Decomposition Control

In this paper, we incorporate velocity observer design into the virtual decomposition control (VDC) strategy of an n-DoF open chain robotic manipulator. Descending from VDC strategy, proposed is based on decomposing manipulator subsystems, i.e., rigid links and joints, for which decentralized controller-observer implementation can be done locally. Similar to VDC, combined passivity-based, show that it achieves semiglobal exponential convergence tracking error. The analysis carried out using Lyapunov functions controller error dynamics. demonstrated in a simulation study 2-DoF vertical plane.