# Decentralized Observer Design for Virtual Decomposition Control

arXiv: https://arxiv.org/abs/2002.01292 · HTML: https://mlsanity.com/paper/2002.01292/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Feb 2020.

## Built on by (most cited first, 1 of 1)

- [Integrating DeepRL with Robust Low-Level Control in Robotic Manipulators for Non-Repetitive Reaching Tasks](https://mlsanity.com/paper/2402.02551/) (2024)

## Abstract (arXiv)

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