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

DOI10.1016/S0167-6911(99)00120-6zbMath0977.93056OpenAlexW2073705395WikidataQ127706341 ScholiaQ127706341MaRDI QIDQ1575295

Amit Ailon, Michael I. Gil'

Publication date: 21 August 2000

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0167-6911(99)00120-6

zbMATH Keywords

stabilitytime delaystabilizationrigid robotposition measurements

Mathematics Subject Classification ID

Stabilization of systems by feedback (93D15) Control/observation systems governed by functional-differential equations (93C23) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (6)

Adaptive robust tracking control of a class of nonlinear systems with input delay ⋮ Optimal robust control of nonlinear time-delay systems: Maintaining low operating errors during feedback outages ⋮ Time-delay systems: an overview of some recent advances and open problems. ⋮ Predictor-based control for an uncertain Euler-Lagrange system with input delay ⋮ Fastest recovery after feedback disruption: nonlinear delay-differential systems ⋮ Backstepping state feedback regulator design for an unstable reaction-diffusion PDE with long time delay

Cites Work

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• Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
• Stability of functional differential equations
• Global regulation of robots using only position measurements
• Structural properties of a flexible-joint robot model with output controllers and some related applications
• Global regulation of flexible joint robots using approximate differentiation
• Time delay estimation in continuous linear time-invariant systems

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