Further results on stability of a rigid robot with model uncertainty and time-delay in feedback

Author

Ailon, Amit ; Byung Ha Ahn

Author_Institution

Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva

fYear

2006

fDate

28-30 June 2006

Firstpage

1

Lastpage

6

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

Keywords

asymptotic stability; control system analysis; delays; manipulators; state feedback; asymptotic stability; exponential stability; model uncertainty; multiple time delay factor; output feedback loop; rigid robot manipulator stability problem; state feedback loop; Asymptotic stability; Convergence; Delay effects; Feedback loop; Manipulators; Output feedback; Robots; Stability analysis; Sufficient conditions; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2006. MED '06. 14th Mediterranean Conference on

Conference_Location

Ancona

Print_ISBN

0-9786720-1-1

Electronic_ISBN

0-9786720-0-3

Type

conf

DOI

10.1109/MED.2006.328834

Filename

4124993