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...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2019-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2019/7289689 |
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| _version_ | 1832549767285047296 |
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| 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 |
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