Abstract
In this study we consider the stability problem of a rigid robot with time-delay in feedback. We consider delayed signals in state and output feedbacks. As demonstrated, the appearance of time-delays in the feedback loop is critical. In fact, even a relatively small time-delay may generate the destructive phenomenon of a finite escape time. In this regard some useful structural properties of the system are studied for synthesizing state and output stabilizing feedbacks in the presence of time-delays, and related features like the estimated region of attraction and the system rate of convergence, are considered.
| Original language | English |
|---|---|
| Pages (from-to) | 351-371 |
| Number of pages | 21 |
| Journal | Dynamics of Continuous, Discrete and Impulsive Systems Series B: Applications and Algorithms |
| Volume | 15 |
| Issue number | 3 |
| State | Published - 1 Jun 2008 |
Keywords
- Finite escape time
- Region of attraction
- Robot manipulator
- Stability
- State and output controllers
- Time-delay
ASJC Scopus subject areas
- Discrete Mathematics and Combinatorics
- Applied Mathematics