Σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers. (23rd December 2019)

• Record Type: Journal Article
• Authors: Ochoa-Ortega, G.; Villafuerte-Segura, R.; Ramírez-Neria, M.; Vite-Hernández, L.
• Other Names: Dinh Thach Ngoc Academic Editor.
• Is Part Of: Complexity. Volume 2019(2019)
• Publication Date: 2019-12-23
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2019/7289689
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : 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.