σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers-Reference-Cited by-同舟云学术

σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers

Published:2019-12-23 Issue: Volume:2019 Page:1-12
ISSN:1076-2787
Container-title:Complexity
language:en
Short-container-title:Complexity

Author:

Ochoa-Ortega G.¹^ORCID,Villafuerte-Segura R.²^ORCID,Ramírez-Neria M.¹³,Vite-Hernández L.²

Affiliation:

1. División de Mecatrónica, Universidad Politécnica del Valle de México, Tultitlán 54910, Mexico

2. Centro de Investigación en Tecnologías de Información y Sistemas, Universidad Autónoma del Estado de Hidalgo, Pachuca 42184, Hidalgo, Mexico

3. Departamento de Mecatrónica, Universidad Tecnológica de México-UNITEC MÉXICO-Campus Atizapán, Atizapán de Zaragoza 52999, Mexico

Abstract

In the present contribution, the problem of establishing tuning rules to proportional retarded controller for LTI systems is addressed. Based on the D-decomposition methodology and σ-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.

Publisher

Hindawi Limited

Subject

Multidisciplinary,General Computer Science

Link

http://downloads.hindawi.com/journals/complexity/2019/7289689.pdf

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