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

DOI10.1016/S0167-6911(99)00120-6MaRDI QIDQ1575295zbMATH OpenOpenAlexWikidataFDO

Authors 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

stabilitystabilizationtime delayposition measurementsrigid robot

Mathematics Subject Classification ID

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

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Cites work

• scientific article; zbMATH DE number 3661794 (Why is no real title available?)
• scientific article; zbMATH DE number 1202893 (Why is no real title available?)
• scientific article; zbMATH DE number 813161 (Why is no real title available?)
• Global regulation of flexible joint robots using approximate differentiation
• Global regulation of robots using only position measurements
• Output controllers based on iterative schemes for set-point regulation of uncertain flexible-joint robot models
• Stability of functional differential equations
• Structural properties of a flexible-joint robot model with output controllers and some related applications
• Time delay estimation in continuous linear time-invariant systems

Cited in

(10)

• Stability analysis of controlled multiple-link robotic manipulator systems with time delays
• Asymptotic stability of a mechanical robotics model with damping and delay
• Time-delay systems: an overview of some recent advances and open problems.
• On stability and regulation performance for flexible-joint robots with input/output communication delays
• Adaptive robust tracking control of a class of nonlinear systems with input delay
• Predictor-based control for an uncertain Euler-Lagrange system with input delay
• Optimal robust control of nonlinear time-delay systems: Maintaining low operating errors during feedback outages
• Backstepping state feedback regulator design for an unstable reaction-diffusion PDE with long time delay
• Fastest recovery after feedback disruption: nonlinear delay-differential systems
• Stability in robots with delayed feedback: analysis and practical observations

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