Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-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 languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
Pages4375-4380
Number of pages6
DOIs
StatePublished - 1 Dec 2003
Event42nd IEEE Conference on Decision and Control - Maui, HI, United States
Duration: 9 Dec 200312 Dec 2003

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume5
ISSN (Print)0191-2216

Conference

Conference42nd IEEE Conference on Decision and Control
Country/TerritoryUnited States
CityMaui, HI
Period9/12/0312/12/03

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Asymptotic Stability in Flexible-Joint Robots with Multiple Time Delays'. Together they form a unique fingerprint.

Cite this