Command Shaping in Tracking Control of a Two-Link Flexible Robot

Banerjee, Arun K.; Singhose, William

doi:10.2514/2.4343

Cited by 72 publications

(38 citation statements)

References 7 publications

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“…(2) for RA 3 , smoothed bang-bang. 4) Again the three-impulses input shaper has been applied for RA 4 , input shaping applied to the smoothed bang-bang pro le.…”

Section: Resultsmentioning

confidence: 99%

Experiments on Command Shaping Control of a Manipulator with Flexible Links

Romano

Agrawal

Bernelli‐Zazzera

2002

Journal of Guidance, Control, and Dynamics

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“…(2) for RA 3 , smoothed bang-bang. 4) Again the three-impulses input shaper has been applied for RA 4 , input shaping applied to the smoothed bang-bang pro le.…”

Section: Resultsmentioning

confidence: 99%

Experiments on Command Shaping Control of a Manipulator with Flexible Links

Romano

Agrawal

Bernelli‐Zazzera

2002

Journal of Guidance, Control, and Dynamics

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“…(4) where N is defined as in Eq. (6), > ðkGCAk þ kÞ, u d ¼ S=kSk, and ¼ 1 þ 2 is chosen such that > 0 and (A À 1 BGC; B; GC) is strictly positive real (SPR) and…”

Section: Reaching Conditionmentioning

confidence: 99%

“…Singhose et al 3) studied an input shaping controller for slewing a flexible spacecraft. Banerjee and Singhose 4,5) proposed application of input shaping for minimum-time control of a twolink flexible manipulator. Song et al 6) treated application of input shaping for reduction of vibration of a flexible spacecraft, using pulse-width pulse-frequency modulated thrusters.…”

Section: Introductionmentioning

confidence: 99%

Maneuvers and Vibration Suppression of Flexible Spacecraft Integrating Variable Structure Control and Input Shaping Technique

2006

Trans. Japan Soc. Aero. S Sci.

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A generalized scheme based on variable structure output feedback control (VSOFC) and input shaping (IS) technique has been proposed for rotational maneuvers and vibration suppression of an orbiting spacecraft with flexible appendages. The proposed control design process is twofold: design of the attitude controller followed by the design of a flexible vibration attenuator. Based on VSOFC theory, the attitude controller using only the attitude and angular rate measurement consists of linear and discontinuous feedback terms. The linear and discontinuous feedback gains are designed so that the sliding surface exists and is globally reachable. With the presence of this attitude controller, an additional vibration attenuator using input shaping technique is designed to eliminate unwanted flexible modes of vibration while achieving the desired closed-loop motion by producing a command profile that only requires information about the natural frequency and damping of the closed-loop system. The proposed control strategy has been implemented on a flexible spacecraft, which is a hub with a cantilever flexible beam appendage and can undergo a single-axis rotation. The results have proven the potential of this approach to control flexible spacecraft.

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“…A set of command shaping techniques exists, such as input shaping [1][2][3][4][5], notch filtering [6] and component synthesis vibration suppression (CSVS) method [7][8][9][10][11], and so on. These techniques work by altering the shape of either the actuator commands or the reference outputs to reduce oscillation of system response.…”

Section: Introductionmentioning

confidence: 99%

Flexible Spacecraft Vibration Suppression Using PWPF Modulated Input Component Command and Sliding Mode Control

2007

Asian Journal of Control

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This paper presents a dual-stage control system design method for the rotational maneuver and vibration stabilization of a spacecraft with flexible appendages. In this design approach, attitude control system and vibration suppression were designed separately using lower order model. The design of attitude controller was based on sliding mode control (SMC) theory leading to a discontinuous control law. This controller accomplishes asymptotic attitude maneuvering in the closed-loop system and is insensitive to the interaction of elastic modes and uncertainty in the system. The shaped command input controller based on component synthesis vibration suppression (CSVS) method is designed for reduction of flexible mode vibration, which only requires information about natural frequency and damping of the closed system. Additionally, to extend the CSVS method to the system with on-off actuators, pulse-width pulse-frequency (PWPF) modulation is employed to control the thruster firing and integrated with the CSVS method. Simulation results have been proven the potential of this technique to control flexible spacecraft.

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Command Shaping in Tracking Control of a Two-Link Flexible Robot

Cited by 72 publications

References 7 publications

Experiments on Command Shaping Control of a Manipulator with Flexible Links

Experiments on Command Shaping Control of a Manipulator with Flexible Links

Maneuvers and Vibration Suppression of Flexible Spacecraft Integrating Variable Structure Control and Input Shaping Technique

Flexible Spacecraft Vibration Suppression Using PWPF Modulated Input Component Command and Sliding Mode Control

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