A concurrent design of input shaping technique and a robust control for high-speed/high-precision control of a chip mounter

Chang, Pyung Hun; Park, Juyi

doi:10.1016/s0967-0661(01)00092-2

Cited by 25 publications

(13 citation statements)

References 12 publications

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“…Theorem 2: Consider the error dynamics (17). If the control law (28) and the adaptation law (30) are used, then the reaching condition is guaranteed.…”

Section: Design Of Sliding Mode Output Feedback Controllermentioning

confidence: 98%

“…In this section, the appropriate control law is proposed to satisfy the reaching condition ( ) ( ) ( ) . S t S t S t σ < − Theorem 1: Consider the error dynamics (17). If the control law is selected as…”

Section: Design Of Sliding Mode Output Feedback Controllermentioning

confidence: 99%

“…Ooten and Singhose [16] presented a control scheme that incorporates an input shaper with a sliding mode controller to increase the tracking performance of a flexible system. Chang and Park [17] developed a method of concurrently designing the input shaping and feedback control for obtaining fast and precise point-topoint movement of a chip mounter. Pai and Sinha [18] developed a scheme of increasing the robustness of shaper without adding more impulses to the shaper.…”

Section: Introductionmentioning

confidence: 99%

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Robust input shaping control for multi-mode flexible structures

Pai

2011

Int. J. Control Autom. Syst.

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Input shaping provides an effective method for suppressing residual vibration of flexible structure systems. However, robustness is not possible without a time penalty. In this paper, a robust input shaping method is developed for suppressing residual vibration of multi-mode flexible structure systems with parameter uncertainties and external disturbances. The proposed scheme integrates both input shaping control and sliding mode output feedback control. The input shaper is designed for the reference model and implemented outside of the feedback loop to reduce the residual vibration. In the feedback loop, the SMOFC technique is employed to make the closed-loop system behave like the reference model with input shaper, where the residual vibration is suppressed. The selection of switching surface and the existence of sliding mode have been addressed. The knowledge of upper bound of uncertainties is not required. Furthermore, it is shown that increasing the robustness to parameter uncertainties does not lengthen the duration of the impulse sequence. Simulation results demonstrate the efficacy of the proposed control scheme.

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“…Theorem 2: Consider the error dynamics (17). If the control law (28) and the adaptation law (30) are used, then the reaching condition is guaranteed.…”

Section: Design Of Sliding Mode Output Feedback Controllermentioning

confidence: 98%

Section: Design Of Sliding Mode Output Feedback Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust input shaping control for multi-mode flexible structures

Pai

2011

Int. J. Control Autom. Syst.

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“…A feedforward loop in a hybrid controller reduces the resonant excitation energy by input shaping, such as zero vibration or pre-filtering. 14,15 This paper describes a method of controlling sound transmission through a panel by active vibration control of the panel using airborne plane wave excitation. We focused on the low-frequency noise fields found in an aircraft cabin.…”

Section: Introductionmentioning

confidence: 99%

Active vibration control of trim panel using a hybrid controller to regulate sound transmission

Kim

2009

Int. J. Precis. Eng. Manuf.

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NOMENCLATURE C l = closed-loop transfer function e(k) = residual vibration at error accelerometer p(R,θ,φ) = farfield sound pressure Tr (R f ) = trace of auto-covariance matrix of filtered-x signal W k = adaptive feedforward controller w = panel acceleration η = convergence factor This paper presents a method for actively controlling the sound transmission through an aircraft trim panel using a hybrid feedforward/feedback control technique. The method involves measuring the frequency transfer function of the trim panel system and then creating an autoregressive moving average model using frequency domain curve fitting. The control technique is designed to minimize the vibration of a panel that has a limited piston-like motion. The hybrid controller consists of an adaptive feedforward controller that operates in conjunction with a linear quadratic Gaussian feedback controller. The feedback controller increases the damping capacity of the secondary plant to augment the convergence rate of the adaptive feedforward controller. Experimental results indicate that the hybrid controller effectively reduces the vibration of active trim panels and therefore also reduces the sound transmission of the panel.

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“…As a challenging motion design problem for manipulation systems, it has attracted the attention of many researchers. [1][2][3][4][5][6][7][8][9][10][11][12][13][14] Of these studies, Aspinwall 3 has used the Fourier expression of a sine series for the forcing function to obtain a vibration free motion of a flexible system. Sahinkaya 8 describes a method for input shaping to produce desired output by inverse dynamics using third order polynomials.…”

Section: Introductionmentioning

confidence: 99%

A robust motion design technique for flexible-jointed manipulation systems

2005

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SUMMARYThis paper presents a robust input shaping technique that significantly reduces (almost eliminates) the residual vibration of manipulation systems typified by a flexiblejointed robot manipulator. The technique consists of two stages. In the first stage, a ramp function is superimposed onto the main trajectory to be preshaped. In the second stage, the outcome of the first stage is convolved with a sequence of two impulses. The robustness of the technique to the uncertainties in the system natural frequency and damping ratio are quantified through simulation and experimental evaluation. Simulation and experimental results demonstrate that the technique is not only effective in reducing the residual vibrations, but also it is robust to the uncertainties of as high as ∓ 35% from the ideal value of the system natural frequency. Further, it has been found that the proposed input shaping technique is insensitive to the uncertainties in the damping ratio. The results allow us to suggest that the proposed technique is versatile and robust enough to apply it to the motion design of any flexible-jointed manipulation system making a point-to-point motion.

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A concurrent design of input shaping technique and a robust control for high-speed/high-precision control of a chip mounter

Cited by 25 publications

References 12 publications

Robust input shaping control for multi-mode flexible structures

Robust input shaping control for multi-mode flexible structures

Active vibration control of trim panel using a hybrid controller to regulate sound transmission

A robust motion design technique for flexible-jointed manipulation systems

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