Title :
Asymptotic stability in flexible-joint robots with multiple time delays
Author_Institution :
Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
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.
Keywords :
asymptotic stability; closed loop systems; control system synthesis; delays; feedback; flexible manipulators; position measurement; asymptotic stability; closed loop systems; control system synthesis; controller; feedback; flexible joint robots; multiple time delays; position measurements; single time delays; structural properties; sufficient conditions; Actuators; Asymptotic stability; Control systems; Data processing; Delay effects; Feedback; Position measurement; Robot control; Sufficient conditions; Torque control;
Conference_Titel :
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
Print_ISBN :
0-7803-7924-1
DOI :
10.1109/CDC.2003.1272181
