Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays

Amit Ailon

doi:10.1109/CDC.2003.1272181

Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays

Amit Ailon

Department of Electrical & Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

This study considers the stability problem of a flexible-joint robot with delay in feedback. We assume in our analysis that the controller uses only position measurements. The two cases of single and multiple time-delays, are considered. Sufficient conditions for asymptotic stability of the system under consideration, are established. The applications of some useful structural properties of the robot model, have been demonstrated.

Original language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publisher	Institute of Electrical and Electronics Engineers
Pages	4375-4380
Number of pages	6
ISBN (Print)	0780379241
DOIs	https://doi.org/10.1109/CDC.2003.1272181
State	Published - 1 Jan 2003
Event	42nd IEEE Conference on Decision and Control - Maui, HI, United States Duration: 9 Dec 2003 → 12 Dec 2003

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	5
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	42nd IEEE Conference on Decision and Control
Country/Territory	United States
City	Maui, HI
Period	9/12/03 → 12/12/03

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2003.1272181

Cite this

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title = "Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays",

abstract = "This study considers the stability problem of a flexible-joint robot with delay in feedback. We assume in our analysis that the controller uses only position measurements. The two cases of single and multiple time-delays, are considered. Sufficient conditions for asymptotic stability of the system under consideration, are established. The applications of some useful structural properties of the robot model, have been demonstrated.",

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Ailon, A 2003, Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays. in Proceedings of the IEEE Conference on Decision and Control. Proceedings of the IEEE Conference on Decision and Control, vol. 5, Institute of Electrical and Electronics Engineers, pp. 4375-4380, 42nd IEEE Conference on Decision and Control, Maui, HI, United States, 9/12/03. https://doi.org/10.1109/CDC.2003.1272181

Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays. / Ailon, Amit.
Proceedings of the IEEE Conference on Decision and Control. Institute of Electrical and Electronics Engineers, 2003. p. 4375-4380 (Proceedings of the IEEE Conference on Decision and Control; Vol. 5).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays

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