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In this paper, an orthogonal decomposition-based state observer for systems with explicit constraints is proposed. State observers have been an integral part of robotic systems, reflecting the practicality and effectiveness of the dynamic state feedback control, but the same methods are lacking for the systems with explicit mechanical constraints, where observer designs have been proposed only for special cases of such systems, with relatively restrictive assumptions. This work aims to provide an observer design framework for a general case linear time-invariant system with explicit constraints, by finding lower-dimensional subspaces in the state space, where the system is observable while giving sufficient information for both feedback and feed-forward control. We show that the proposed formulation recovers minimal coordinate representation when it is sufficient for the control law generation and retains non-minimal coordinates when those are required for the feed-forward control law. The proposed observer is tested on a flywheel inverted pendulum and on a quadruped robot Unitree A1.

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