TY - GEN
T1 - Further results on stability of a rigid robot with model uncertainty and time-delay in feedback
AU - Ailon, Amit
AU - Ahn, Byung Ha
PY - 2006/12/1
Y1 - 2006/12/1
N2 - This study considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems 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 demonstrated.
AB - This study considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems 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 demonstrated.
UR - http://www.scopus.com/inward/record.url?scp=35948972893&partnerID=8YFLogxK
U2 - 10.1109/MED.2006.328834
DO - 10.1109/MED.2006.328834
M3 - Conference contribution
AN - SCOPUS:35948972893
SN - 0978672003
SN - 9780978672003
T3 - 14th Mediterranean Conference on Control and Automation, MED'06
BT - 14th Mediterranean Conference on Control and Automation, MED'06
T2 - 14th Mediterranean Conference on Control and Automation, MED'06
Y2 - 28 June 2006 through 30 June 2006
ER -