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

Author

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  • G. Ochoa-Ortega
  • R. Villafuerte-Segura
  • M. Ramírez-Neria
  • L. Vite-Hernández

Abstract

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

Suggested Citation

  • G. Ochoa-Ortega & R. Villafuerte-Segura & M. Ramírez-Neria & L. Vite-Hernández, 2019. "σ -Stabilization of a Flexible Joint Robotic Arm via Delayed Controllers," Complexity, Hindawi, vol. 2019, pages 1-12, December.
    • Handle: RePEc:hin:complx:7289689
    DOI: 10.1155/2019/7289689
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