Robust Input Shaper Control Design for Parameter Variations in Flexible Structures
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Published:1999-10-04
Issue:1
Volume:122
Page:63-70
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Pao Lucy Y.1, Lau Mark A.1
Affiliation:
1. Electrical & Computer Engineering Department, University of Colorado, Boulder, CO 80309-0425
Abstract
Input shaping has been shown to yield good performance in the control of flexible structures while being insensitive to modeling errors. However, previous studies do not take into account the distributions of the parameter variations. We develop a new input shaping method that allows the ranges of system parameter values to be weighted according to the expected modeling errors. Comparisons with previously proposed input shaper designs are presented to illustrate the qualities of the new input shaper design method. These new shapers will be shown to have better robustness under uncertainty in structural parameters and shorter shaper lengths for lightly damped systems. [S0022-0434(00)02201-2]
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference25 articles.
1. Book, W. J. , 1993, “Controlled Motion in an Elastic World,” ASME J. Dyn. Syst., Meas., Control, 115, No. 2,June, pp. 252–261. 2. Junkins, J. L., and Kim, Y. 1993, Introduction to Dynamics and Control of Flexible Structures. 3. Singer, N., and Seering, W., 1990, “Preshaping Command Inputs to Reduce System Vibration,” ASME J. Dyn. Syst., Meas., Control, 112, No. 1, Mar., pp. 76–82. 4. Singh, T., and Vadali, S. R., 1994, “Robust Time-Optimal Control: A Frequency Domain Approach,” AIAA J. Guid., Contr., Dyn., 17, No. 2, Mar.–Apr., pp. 346–353. 5. Singhose, W., Seering, W., and Singer, N., 1994, “Residual Vibration Reduction Using Vector Diagrams to Generate Shaped Inputs,” ASME J. Mech. Des., 116, No. 2, June, pp. 654–659.
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