Stability analysis of a rigid robot with output-based controller and time delay

被引：23

作者：

Ailon, A

Gil', MI

机构：

[1] Ben Gurion Univ Negev, Dept Elect & Comp Engn, IL-84105 Beer Sheva, Israel

[2] Ben Gurion Univ Negev, Dept Math, IL-84105 Beer Sheva, Israel

来源：

SYSTEMS & CONTROL LETTERS | 2000年 / 40卷 / 01期

关键词：

rigid robot; time delay; position measurements; stability;

D O I：

10.1016/S0167-6911(99)00120-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study considers the problem of stabilizing a rigid robot with an output-based controller and time-delayed input functions applied to the robot joints: We establish sufficient conditions for asymptotic stability of the system under consideration. These conditions are based on well-defined relationships between the magnitude of the controller gains and the time delay factor. (C) 2000 Elsevier Science B.V. All rights reserved.

引用

页码：31 / 35

页数：5

共 12 条

[1] Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models [J].