\( \sigma \)-stabilization of a flexible joint robotic arm via delayed controllers (Q2285729)
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| Language | Label | Description | Also known as |
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| English | \( \sigma \)-stabilization of a flexible joint robotic arm via delayed controllers |
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\( \sigma \)-stabilization of a flexible joint robotic arm via delayed controllers (English)
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8 January 2020
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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 \(\mathcal{D} \)-decomposition methodology and \(\sigma \)-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.
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