Yo-yo motion control based on impulsive Luenberger Observer

In this paper, a yo-yo motion control called “gravity-pull” is considered with mixing an energy-based stabilizing control and an impulsive Luenberger Observer (ILO). This study aims that this control law is realized without any visual sensor but with force sensors because people can manipulate a yo-yo by use of the force sense at the finger even with eyes closed. Under the assumption that recognizable force is applied to the finger only when a yo-yo arrives at the bottom position, the ILO plays an important role to estimate the state of the yo-yo from the impulsive force because the state as the rotational speed is required for the yo-yo motion control. The precision of a yo-yo physical model affects the estimation accuracy of the ILO, hence a detailed yo-yo model, in which the thickness of the yo-yo's string is considered, is derived. With the estimated state, an energy-based stabilizing control realizes the gravity-pull, the target yo-yo motion.