Hysteresis switched observer with regional pole placements for general manipulation systems

In this paper, we focus on the problem of a observer design for a manipulation system. The mechanical compliance introduced by the cooperation between the manipulators and their interactions with load is complex and nonlinear which makes the observer design very difficult. The last motivates us to develop a new approach to design a multi models-based observer that we will call hysteresis switched observer. The proposed hysteresis switched observer is based on a piecewise linear approximation of the dynamic model. The robust design of the observers composing the hysteresis switched one and the hysteresis behavior of the switching logic ensure the asymptotic stability of the error of the observation with a smooth dynamics