Adaptive input shaping for manoeuvring flexible structures using an algebraic identification technique

Pereira, Emiliano; Trapero, Juan R.; Díaz, Iván M.; Feliú, V.

doi:10.1016/j.automatica.2008.11.014

Cited by 71 publications

(34 citation statements)

References 15 publications

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“…The development carried out in this section follows that of an algebraic non-asymptotic parameter identification 24 , and assumes a ZV shaper (two impulses) to benefit from shorter command durations when an adaptive algorithm is used. Nevertheless, it can be easily extended to more robust input shapers.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Nevertheless, to cope with a large system parameters variation, learning input shaping and adaptive input shaping become relevant. Learning input shaping (LIS) 18,19 provides a solution after several repetitive maneuvers, while the adaptive input shaping (AIS) [20][21][22][23][24] requires only one, resulting in a better approach for single maneuvers on cranes. Both of them estimate the system parameters by including in their algorithms the output response measured through a feedback sensor.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Modified adaptive input shaping for maneuvering cranes using a feedback MEM gyroscope with null drift

Fontanet

Cardona

Català

2015

Int. J. Precis. Eng. Manuf.

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This paper presents an adaptive algorithm to reduce residual vibrations when the feedback sensor used has the drawback of having null drift along the time. The adaptive approaches are useful to deal with large variations of the system parameters at each maneuver, such as it occurs in cranes. For the feedback sensor, the use of inertial measurement units such as Micro-Electro-Mechanical Systems (MEMS) is increasingly extended because of their cost, size, robustness and power consumption. However, the effectiveness of the adaptive input shaping algorithms is compromised because of this drift, which is a commonly raised issue in this kind of devices. For a standard crane application, this major drawback could be avoided with a frequent time-basis calibration of the sensor, but it is not a feasible solution. The study presented in this manuscript focuses on the development of an automatic compensation of this drift to obviate such frequent calibrations. It is based on a non-asymptotic algebraic identification technique, which has the advantage of not requiring initial conditions and having a short convergence time. The new formulation uses the Zero-Vibration (ZV) input shaper technique, and the null drift is added to the algorithm as a new parameter to be identified. The proposed method has been particularized for single maneuvers of cranes with a gyroscope as feedback sensor, in a real time scenario. Experimental results show the efficacy of the method with its application to a scaled crane test platform. P R E -P R I N T V E R S I O N

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Section: Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modified adaptive input shaping for maneuvering cranes using a feedback MEM gyroscope with null drift

Fontanet

Cardona

Català

2015

Int. J. Precis. Eng. Manuf.

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“…The algebraic estimator presented in this article is based on the basic approach introduced by M. Fliess and H. SiraRamírez and can be found in [22] for its application on a second order system. In this article a theoretical development was proposed with the objective to tune an Adaptive Input Shaping.…”

Section: A Algebraic Approachmentioning

confidence: 99%

“…IS with parameter adaptations have been proposed, known as Adaptive Input Shaper (AIS). AIS solutions can be designed based on frequency domain [31] or time domain [5], [22]. The development of such algorithms has motivated the comparison of two methods for on-line parameter.…”

Section: Introductionmentioning

confidence: 99%

Toward on-line robot vibratory modes estimation

Delpoux

Béarée

Olabi

et al. 2014

2014 American Control Conference

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Abstract-This paper is concerned with preliminary results on robot vibratory modes on-line estimation. The dominating oscillatory mode of the robot arm is isolated by comparing the robot position given by the motors encoders and an external measure at the tool-tip of the robot arm. In this article the external measurement is provided by a laser tracker. The isolation of the oscillation permits to identify the vibratory mode, i.e. the natural frequency and the damping ratio of the undesired phenomena. Here we propose a comparison between the algebraic method and the sliding modes for the parameter identification. This comparison is motivated by the fact that both methods provide finite time convergence. Experimental identifications are proposed on a 6 degrees of freedom (DOF) manipulator robot, Stäubli RX-170B.

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“…The corollary is that such profile cannot totally suppress residual vibrations. On the opposite, input shaping technique focus specifically on the cancellation of residual vibrations [10,11]. The method is based on the convolution of impulses with a minimumtime acceleration limited trajectory.…”

Section: Introductionmentioning

confidence: 99%