An impulse-time perturbation approach for enhancing the robustness of extra-insensitive input shapers

Rew, Keun-Ho; Ha, Chang-Wan; Kim, Kyung-Soo

doi:10.1016/j.automatica.2013.08.015

Cited by 31 publications

(16 citation statements)

References 19 publications

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“…The flexible plant is the nonlinear governing equations in Table 2. The intelligent backstepping controller and update laws are (27)- (40), with the following design parameters: …”

Section: Resultsmentioning

confidence: 99%

“…It was shown in Rew et al in [40] that the design parameter  is related to the upper limit of the allowable vibration percentage…”

Section: Extra-insensitive Input Shapermentioning

confidence: 99%

“…Because the insensitivity to frequency variation can be specified by the designer, the resulting shaper is called specified-insensitivity (SI) shaper. Rew et al in [40] proposed perturbation-based extra-insensitive input shapers (PEI-ISs). The PEI-ISs are multiplication of a series of ZV input shapers in the Laplace domain.…”

Section: Introductionmentioning

confidence: 99%

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Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

Chatlatanagulchai¹,

Nithi-Uthai²

2017

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Abstract. Input shaping technique can be used to suppress residual vibration, occurring from moving rapidly a flexible system from one point to another point. An input shaping filter produces a shaped input signal that avoids exciting the flexible modes of the flexible system. The technique requires accurate knowledge of mode parameters. When the plant model is not accurate, performance of the input shaper degrades. Several robust input shapers were proposed to handle this inaccuracy at the expense of longer move time. The purpose of this paper is, for the first time, to present an application of an intelligent backstepping system to matching of the resulting closed-loop system with a reference model. The input shaper can then be designed from the mode parameters of the reference model. Because the reference model is accurate even when the plant model is not, the input shaper needs not be robust, resulting in shorter move time. The intelligent backstepping system consists of a three-layer neural network, a variable structure controller, and a backstepping controller. The neural network is used as a black-box model in case when the plant model is unknown, making the proposed system model-independent. The adaptive property of the neural network also makes the proposed system suitable for nonlinear, time-varying, or configuration-dependent systems. The variable structure controller handles the uncertainty arisen in the system. The backstepping controller, through its virtual controls, provides a means for the control authority to reach the unmatched uncertainty in the system. This study contains simulation and experimental results on a flexible-joint robot manipulator. The results showed that this proposed intelligent input shaping system outperformed previously proposed robust input shapers in terms of allowable uncertainty amount and move time. The proposed system is also relatively easy to apply because it does not require the plant model.

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“…The flexible plant is the nonlinear governing equations in Table 2. The intelligent backstepping controller and update laws are (27)- (40), with the following design parameters: …”

Section: Resultsmentioning

confidence: 99%

“…It was shown in Rew et al in [40] that the design parameter  is related to the upper limit of the allowable vibration percentage…”

Section: Extra-insensitive Input Shapermentioning

confidence: 99%

See 1 more Smart Citation

Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

Chatlatanagulchai¹,

Nithi-Uthai²

2017

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show abstract

“…Several versions of input shaping control technique [5][6][7][8][9][10][11][12][13] have been proposed to improve the robustness to uncertainties in the damping factors and natural frequencies of flexible structures. However, the price for increasing robustness is to lengthen the duration of the impulse sequence, which results in a slower system response.…”

Section: Introductionmentioning

confidence: 99%

Discrete-time dynamic output feedback input shaping control of vibration in uncertain time-delay flexible structures

Pai¹

2015

Applied Mathematics and Computation

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“…anks to its advantages, such as simplicity, effectiveness, and extensive applicability, IST has received much attention in the control theory and led to many engineering applications [7]. Zero vibration (ZV) shapers, zero vibration derivative (ZVD) shapers and zero vibration derivative-derivative (ZVDD) shapers were first developed [8].…”

Section: Introductionmentioning

confidence: 99%

A New Trajectory Optimizing Method Using Input Shaping Principles

Zhao

Zhou

2018

Shock and Vibration

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Input shaping is an efficient control technique which has motivated a great number of contributions in recent years. Such a technique generates command signals that can manoeuvre flexible structures without exciting their vibration modes. This paper introduces a new trajectory optimizing method based on input-shaping principles. The main characteristic of this method in comparison with traditional input-shaping technique is the generating process of final trajectory. By adding reversion and postprocessing procedures before input shapers, time-delay and most of the trajectory deviation can be removed. The improvement of the proposed method compared with a traditional method is evaluated by simulations. It will be shown that the proposed method leads to no time-delay and highly decreased trajectory deviation and little change of robustness.

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An impulse-time perturbation approach for enhancing the robustness of extra-insensitive input shapers

Cited by 31 publications

References 19 publications

Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

Intelligent Backstepping System to Increase Input Shaping Performance in Suppressing Residual Vibration of a Flexible-Joint Robot Manipulator

Discrete-time dynamic output feedback input shaping control of vibration in uncertain time-delay flexible structures

A New Trajectory Optimizing Method Using Input Shaping Principles

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