Paper Title
Observer Design for Yo-Yo Control by Robot Arm

Abstract
In this research, we aim to design an observer for Forward pass operation of a yo-yo by a robot arm. The purpose is realized by three steps. First, we examine how to estimate the states of yo-yo. Second, the effectiveness of the observer is verified by numerical simulation. Finally, the proposed estimation methods are evaluated by experiments. To design the observer, the equation of motion of yo-yo is derived and analyzed to check the observability. The observability and accuracy of the proposed observer for yo-yo operation are evaluated through numerical simulations． Keywords - YO-YO, SDRE control, Projection Method, Observer, Feedback Control.