σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers

Autor: G. Ochoa-Ortega, R. Villafuerte-Segura, M. Ramírez-Neria, L. Vite-Hernández
Jazyk: angličtina
Rok vydání: 2019
Předmět:
Zdroj: Complexity, Vol 2019 (2019)
Druh dokumentu: article
ISSN: 1076-2787
1099-0526
DOI: 10.1155/2019/7289689
Popis: In the present contribution, the problem of establishing tuning rules to proportional retarded controller for LTI systems is addressed. Based on the D-decomposition methodology and σ-stability analysis, analytic conditions are determined on the parameters of a delayed controller that guarantee us that the system response reaches the maximal decay rate. The conditions presented in this paper are tested experimentally in tracking tasks of a flexible joint robotic arm.
Databáze: Directory of Open Access Journals
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