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

G. Ochoa-Ortega, R. Villafuerte-Segura, M. Ramírez-Neria and L. Vite-Hernández

Complexity, 2019, vol. 2019, 1-12

Abstract:

In the present contribution, the problem of establishing tuning rules to proportional retarded controller for LTI systems is addressed. Based on the - 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.

Date: 2019
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Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:7289689

DOI: 10.1155/2019/7289689

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