A review of command shaping techniques for elimination of residual vibrations in flexible-joint manipulators

Conker, Çağlar; Yavuz, Hakan; Bilgiç, Hasan Hüseyin

doi:10.21595/jve.2016.16725

Cited by 34 publications

(18 citation statements)

References 26 publications

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“…Regarding residual vibrations specifically, there is a sense in which all strategies for flexible system control are also about attempting to control residual vibrations. For example, see references [13][14][15][16][17][18][19][20][21][22]. In input shaping, for example, there is focus on making the controller more robust (or less sensitive) to departures of flexible system dynamics from nominal values.…”

Section: Contextmentioning

confidence: 99%

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

2020

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Wave-based control (WBC) is a technique for motion control of under-actuated flexible systems. It envisages actuator motion as launching a motion wave into the system, while simultaneously absorbing any wave returning from the system. For rest-to-rest motion the net launch displacement is set at half the target displacement. In absorbing the returning wave and vibrations, WBC moves the system the remaining distance to the target, with zero steady-state error.The focus of this paper is on very small residual vibrations around the target position which can endure for a long time after arrival at target. This issue was discovered through a recent development within WBC context on controlling complex two-dimensional, mass-spring, beam-like arrays. To date their existence has been unidentified. This paper investigates and interprets the nature of these vibrations, explains and identifies them based on wave ideas, and finally offers a new wave-based approach to mitigate or suppress them. It also discusses their implication, not just for WBC but for the general problem of control of flexible systems.

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Section: Contextmentioning

confidence: 99%

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

2020

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“…They reported that the vibration caused by motor motion has been reduced with the applied controller. Conker et al 21 reviewed 15 different input shapers in detail. They compared both the simulations and experimental results.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy logic–based decision support system for selection of optimum input shaping techniques in point-to-point motion systems

Bilgiç

Conker

Yavuz

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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In this study, a novel fuzzy logic–based decision support system approach to provide assistance in the selection of suitable input shaping techniques is presented. The proposed approach selects the suitable input shaping technique for point-to-point motion type of systems such as precise positioning, crane operations, flexible robotic systems and so on. The problem solution addressed is the selection of the input shaping technique and the settings for the selection of the input shaper. Some of these design issues require extensive expertise in command shaping and system modeling studies. To overcome these problems and the necessity for such an expertise in these application areas, the proposed technique is provided as a solution. The presented study also provides a review of input shaping methods as well as their advantages and disadvantages in terms of vibration elimination performance, traveling time and robustness features. In the final section of the study, the details of the simulations, as well as experimental results, are provided to validate the achieved high performance of the proposed technique. The experimental studies are conducted on a Quanser IP02 Gantry Crane experimental setup.

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“…In [13], the open-loop nature of input shaping is considered for vibration control of flexible systems, in the presence of known and finite duration disturbances. Input shaping has been extensively used for vibration control (see [14] and references therein). Transient response of nonlinear systems is addressed in fewer works in the literature, with some examples being [15,16].…”

Section: Introductionmentioning

confidence: 99%

Shaping the Transient Response of Nonlinear Systems to Satisfy a Class of Integral Constraints

Aalipour¹,

Das²

2020

Preprint

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We consider the problem of shaping the transient step response of nonlinear systems to satisfy a class of integral constraints. Such constraints are inherent in hybrid energy systems consisting of energy sources and storage elements. While typical transient specifications aim to minimize overshoot, this problem is unique in that it requires the presence of an appreciable overshoot to satisfy the foregoing constraints. The problem was previously studied in the context of stable linear systems. A combined integral and feedforward control, that requires minimal knowledge of the plant model, was shown to make the system amenable to meeting such constraints. This paper extends that work to nonlinear systems and proves the effectiveness of the same compensation structure under added conditions. Broadly, it is shown that the integral constraint is satisfied when this compensation structure is applied to nonlinear systems with stable openloop step response and a positive DC gain. However, stability of the resulting closed-loop system mandates bounds on the controller gain.

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A review of command shaping techniques for elimination of residual vibrations in flexible-joint manipulators

Cited by 34 publications

References 26 publications

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

Identifying and mitigating residual vibrations in wave-based control of lumped, flexible systems

Fuzzy logic–based decision support system for selection of optimum input shaping techniques in point-to-point motion systems

Shaping the Transient Response of Nonlinear Systems to Satisfy a Class of Integral Constraints

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