Abstract
This study considers the stability problem of a flexible-joint robot in case time delays are involved in the feedback loop. We assume in our analysis that the controller uses only position measurements. The single and multiple time-delay cases, are considered. By using some useful structural properties of the robot model, sufficient conditions for asymptotic (exponential) stability of the system under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is given.
| Original language | English |
|---|---|
| Pages (from-to) | 519-531 |
| Number of pages | 13 |
| Journal | Journal of the Franklin Institute |
| Volume | 341 |
| Issue number | 6 |
| DOIs | |
| State | Published - 1 Sep 2004 |
Keywords
- Exponential stability
- Flexible-joint robot
- Multiple time delays
- Output-feedback
- Region of attraction
ASJC Scopus subject areas
- Control and Systems Engineering
- Signal Processing
- Computer Networks and Communications
- Applied Mathematics