{"title":"Further results on stability of a rigid robot with model uncertainty and time-delay in feedback","authors":"A. Ailon, B. Ahn","doi":"10.1109/MED.2006.328834","DOIUrl":null,"url":null,"abstract":"This study considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is demonstrated","PeriodicalId":347035,"journal":{"name":"2006 14th Mediterranean Conference on Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2006-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 14th Mediterranean Conference on Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2006.328834","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
This study considers the stability problem of a rigid robot manipulator with time-delay in the feedback loop. We consider in the stability analysis two cases, namely, time delay in state and output feedbacks. As far as the time delay factor is concerned, we extend previous results by considering the effect of multiple time-delay on the stability property of a rigid robot with state and output feedbacks. Sufficient conditions for asymptotic (in fact, exponential) stability of the systems under consideration have been established. An estimate to the system rate of convergence is given and a procedure for evaluating the region of attraction, is demonstrated
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