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

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 th...

Full description

Saved in:
Bibliographic Details
Main Authors: G. Ochoa-Ortega, R. Villafuerte-Segura, M. Ramírez-Neria, L. Vite-Hernández
Format: Article
Language:English
Published: Wiley 2019-01-01
Series:Complexity
Online Access:http://dx.doi.org/10.1155/2019/7289689
Tags: Add Tag
No Tags, Be the first to tag this record!
_version_ 1832549767285047296
author G. Ochoa-Ortega
R. Villafuerte-Segura
M. Ramírez-Neria
L. Vite-Hernández
author_facet G. Ochoa-Ortega
R. Villafuerte-Segura
M. Ramírez-Neria
L. Vite-Hernández
author_sort G. Ochoa-Ortega
collection DOAJ
description 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.
format Article
id doaj-art-079280e8abd74e4ba304fa59e5c87ad1
institution Kabale University
issn 1076-2787
1099-0526
language English
publishDate 2019-01-01
publisher Wiley
record_format Article
series Complexity
spelling doaj-art-079280e8abd74e4ba304fa59e5c87ad12025-02-03T06:08:31ZengWileyComplexity1076-27871099-05262019-01-01201910.1155/2019/72896897289689σ-Stabilization of a Flexible Joint Robotic Arm via Delayed ControllersG. Ochoa-Ortega0R. Villafuerte-Segura1M. Ramírez-Neria2L. Vite-Hernández3División de Mecatrónica, Universidad Politécnica del Valle de México, Tultitlán 54910, MexicoCentro de Investigación en Tecnologías de Información y Sistemas, Universidad Autónoma del Estado de Hidalgo, Pachuca 42184, Hidalgo, MexicoDivisión de Mecatrónica, Universidad Politécnica del Valle de México, Tultitlán 54910, MexicoCentro de Investigación en Tecnologías de Información y Sistemas, Universidad Autónoma del Estado de Hidalgo, Pachuca 42184, Hidalgo, MexicoIn 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.http://dx.doi.org/10.1155/2019/7289689
spellingShingle G. Ochoa-Ortega
R. Villafuerte-Segura
M. Ramírez-Neria
L. Vite-Hernández
σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers
Complexity
title σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers
title_full σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers
title_fullStr σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers
title_full_unstemmed σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers
title_short σ-Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers
title_sort σ stabilization of a flexible joint robotic arm via delayed controllers
url http://dx.doi.org/10.1155/2019/7289689
work_keys_str_mv AT gochoaortega sstabilizationofaflexiblejointroboticarmviadelayedcontrollers
AT rvillafuertesegura sstabilizationofaflexiblejointroboticarmviadelayedcontrollers
AT mramirezneria sstabilizationofaflexiblejointroboticarmviadelayedcontrollers
AT lvitehernandez sstabilizationofaflexiblejointroboticarmviadelayedcontrollers