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

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 th...

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Bibliographic Details
Published in:Complexity (New York, N.Y.) N.Y.), 2019, Vol.2019 (2019), p.1-12
Main Authors: Vite-Hernández, L., Ramírez-Neria, M., Villafuerte-Segura, Raúl, Ochoa-Ortega, G.
Format: Article
Language:English
Subjects:
Controllers
Decay rate
Robot arms
Stability analysis
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Summary: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.
ISSN:1076-2787
1099-0526
DOI:10.1155/2019/7289689