Gomez, Marco A. | Universidad De Guanajuato |
Resumen: A well-known strategy for the control of robot manipulators consists in independently controlling each joint. In this paper, we propose a class of time-delay based controllers under this scheme, which ensures practical stability of the tracking position error dynamics corresponding to each joint. In order to tune the controller, a simple methodology based on the feasibility of a Linear Matrix Inequality derived from a proposed Lyapunov-Krasovskii functional is provided. In contrast to classical control algorithms, the presented scheme does not require estimators nor velocity measures but only measures of position at the present and a given delayed time. Numerical simulations show the potential advantages of the proposed class of controllers when position measures are corrupted by noise.
![Time-Delay Based Controller for Independent Joint Control of Robot Manipulators](/wp-content/uploads/2022/04/logotipo_amca100.png)
¿Cómo citar?
Marco A. Gomez. Time-Delay Based Controller for Independent Joint Control of Robot Manipulators. Memorias del Congreso Nacional de Control Automático, pp. 27-32, 2021.
Palabras clave
control of robot manipulators; time-delay based controllers; time-delay systems
Referencias
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