On global trajectory tracking control of robot manipulators with a delayed feedback

Andreev, Aleksandr; Peregudova, Olga

doi:10.35470/2226-4116-2021-10-4-231-239

Cited by 2 publications

(1 citation statement)

References 14 publications

(20 reference statements)

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“…Here x(t), ẋ(t) ∈ R n are vectors of generalized coordinates and velocities, respectively, A is a constant symmetric and positive definite matrix of inertial characteristics of the system, B is a constant symmetric and positive definite matrix of dissipative forces, matrix functions C(t) and D(t) are continuous and bounded for t ∈ [0, +∞), h is a positive parameter, τ is a constant positive delay. The term D(t)x(t − τ ) can be interpreted as a result of application of a control with delay in the feedback law [Fridman, 2014;Andreev and Peregudova, 2021;Khac, Vlasov and Pyrkin, 2022].…”

Section: Statement Of the Problemmentioning

confidence: 99%

Stability analysis of nonstationary mechanical systems with time delay via averaging method

Aleksandrov

2023

CAP

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A linear mechanical system with constant matrix of dissipative forces and continuous and bounded matrices of positional forces is studied. It is assumed that there are a large positive multiplier at the vector of dissipative forces and a constant delay in positional forces. The case is considered where the associated delay-free averaged system is asymptotically stable. With the aid of the Lyapunov direct method and the averaging method, conditions are derived under which neither delay nor timevarying perturbations with zero mean values disturb the asymptotic stability. The developed approach is used in the problem of monoaxial stabilization of a rigid body.

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Section: Statement Of the Problemmentioning

confidence: 99%

Stability analysis of nonstationary mechanical systems with time delay via averaging method

Aleksandrov

2023

CAP

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PID controllers with delay in a problem of stabilization of robotic manipulators’ desired motions

Andreev

Kolegova

2022

Zhurnal SVMO

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Proportional-integro-differentiating (PID) controllers are widely used in solving control problems of technical systems, including mechanical ones. For this case, most of works are limited to the study of stabilization problem for steady motions and states; such studies are based on the analysis of model equations in a linear approximation. On the other hand, one of the urgent problems of controlled-motion mechanics is the problem of using PID controllers in tracking the trajectories of multi-link robotic manipulators with semi-global or global stabilization in a non-linear formulation. Practically little studied is the problem of justifying the applicability of such controllers taking into account possible delay in the feedback structure. This paper deals with such a problem. As an application of the theory developed in this paper, the control for a motion of a six-link manipulator is obtained.

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On global trajectory tracking control of robot manipulators with a delayed feedback

Cited by 2 publications

References 14 publications

Stability analysis of nonstationary mechanical systems with time delay via averaging method

Stability analysis of nonstationary mechanical systems with time delay via averaging method

PID controllers with delay in a problem of stabilization of robotic manipulators’ desired motions

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