Stability in robots with delayed feedback: Analysis and practical observations

Amit Ailon, Byung Ha Ahn

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)351-371
Number of pages21
JournalDynamics of Continuous, Discrete and Impulsive Systems Series B: Applications and Algorithms
Issue number3
StatePublished - 1 Jun 2008


  • 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


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