On stability and regulation performance for flexible-joint robots with input/output communication delays

DOI10.1016/J.AUTOMATICA.2014.04.022zbMath1296.93127OpenAlexW2138443509MaRDI QIDQ458877

Yen-Chen Liu, Nikhil Chopra

Publication date: 8 October 2014

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2014.04.022

zbMATH Keywords

time delaypassivity-based controljoint flexibilitynetworked robotic system

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Large-scale systems (93A15) Stability of control systems (93D99)

Related Items (3)

Universal strategies to explicit adaptive control of nonlinear time-delay systems with different structures ⋮ Distributed synchronization for heterogeneous robots with uncertain kinematics and dynamics under switching topologies ⋮ Wave-variable framework for networked robotic systems with time delays and packet losses

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• Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics
• Input-output robust tracking control design for flexible joint robots
• A tracking controller for flexible joint robots using only link position feedback

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