Stability improvements of robot control by periodic variation of the gain parameters

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

A PD position control of a one degree of freedom system is investigated for the case when the gain parameters are varying periodically. Due to the sampling effect of the control process, the mathematical model is a time periodic delay-differential equation. The investigation of this equation shows that the stability properties and the settling time of the control process can be improved by proper gain variation. A wide range of stability charts are determined for constant and periodically varying control gains and the improvements in stability are shown. The settling time is also investigated, and the gains resulting the fastest signal decay are also determined.

Original languageEnglish
Title of host publicationProceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science
EditorsT. Huang
Pages1816-1820
Number of pages5
Publication statusPublished - 2004
EventProceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science - Tianjin, China
Duration: Apr 1 2004Apr 4 2004

Other

OtherProceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science
CountryChina
CityTianjin
Period4/1/044/4/04

Fingerprint

Robots
Gain control
Position control
Differential equations
Mathematical models
Sampling

Keywords

  • Periodic gains
  • Sampling effect
  • Stability

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Insperger, T., & Stépán, G. (2004). Stability improvements of robot control by periodic variation of the gain parameters. In T. Huang (Ed.), Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science (pp. 1816-1820)

Stability improvements of robot control by periodic variation of the gain parameters. / Insperger, T.; Stépán, G.

Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science. ed. / T. Huang. 2004. p. 1816-1820.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Insperger, T & Stépán, G 2004, Stability improvements of robot control by periodic variation of the gain parameters. in T Huang (ed.), Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science. pp. 1816-1820, Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science, Tianjin, China, 4/1/04.
Insperger T, Stépán G. Stability improvements of robot control by periodic variation of the gain parameters. In Huang T, editor, Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science. 2004. p. 1816-1820
Insperger, T. ; Stépán, G. / Stability improvements of robot control by periodic variation of the gain parameters. Proceeding of the 2004 the Eleventh World Congress in Mechanism and Machine Science. editor / T. Huang. 2004. pp. 1816-1820
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