Concurrent design of input shaping and feedback control for insensitivity to parameter variations

Journal of Dynamic Systems, Measurement, and Control

Sinha

2011

The input shaping technique has proven to be highly effective in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping depends on the amplitudes and instants of utilized impulses. However, systems always have parametric uncertainties, which can lead to performance degradation. Furthermore, input shaping method does not deal with vibration excited by external disturbances and time-delays. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structure and uncertain time-delay flexible structure .systems. The algorithm is based on the sliding mode control and H^l¡x techniques. This scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parametric uncertainties, time-delays and external disturbances as well. Also, it is shown that increasing the robustness to parametric uncertainties and time-delays does not lengthen the duration of the impulse sequence. Numerical examples are presented to verify the theoretical analysis.

Section: Aa=a-a" and (7)mentioning

confidence: 99%

“…A method of concurrently designing the input shaping and feedback control for insensitivity to parameter variations is developed in Ref. [8]. An adaptive input shaper providing robustness to parameter uncertainties by tuning the shaper to the flexible mode frequencies is explored in Ref.…”

Section: Introductionmentioning

confidence: 99%

Increasing Robustness of Input Shaping Method to Parametric Uncertainties and Time-Delays

Journal of Dynamic Systems, Measurement, and Control

Sinha

2011

“…Recently, in order to improve the robustness, a feedback controller combined with input shaping has received more attention. A method of concurrently designing the input shaping and feedback control for insensitivity to parameter variations is developed by [17]. Kapila et al [18] have developed a closed-loop input shaping control method for the robustness to inaccuracies in the instants of applied impulses.…”

Section: Introductionmentioning

confidence: 99%

Closed-Loop Input Shaping Control of Vibration in Flexible Structures via Adaptive Sliding Mode Control

2012

Shock and Vibration

Input shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping technique depends on the amplitudes and instants of impulse application. However, systems always have parameter uncertainties which can lead to performance degradation. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structures. The algorithm is based on input shaping control and adaptive sliding mode control. The proposed scheme does not need a priori knowledge of upper bounds on the norm of the uncertainties, but estimates them by using the adaptation technique. This scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parameter uncertainties and external disturbances as well. 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 closed-loop input shaping control scheme.

“…Recently, in order to improve the robustness, a feedback controller combined with input shaping has received more attention. A method of concurrently designing the input shaping and feedback control for insensitivity to parameter variations is developed by Kenison and Singhose 10. A closed‐loop input shaping control method for the robustness to inaccuracies in the instants of applied impulses is developed by Kapila et al 11.…”

Section: Introductionmentioning

confidence: 99%

Closed‐loop input shaping control of vibration in flexible structures using discrete‐time sliding mode

Intl J Robust & Nonlinear

2011

SUMMARYInput shaping technique is widely used in reducing or eliminating residual vibration of flexible structures. It is easy to implement and achieve the exact elimination of the residual vibration if the dynamics of the system are known accurately. However, it is not very robust to parameter uncertainties and external disturbances. In this paper, a closed-loop input shaping method is developed for reducing or eliminating residual vibration of flexible structure systems with parameter uncertainties and external disturbances. The algorithm is based on input shaping control and discrete-time sliding mode control. It is shown that the proposed scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parameter uncertainties and external disturbances as well. The selection of switching surface and the existence of sliding mode are two important issues, which 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 closed-loop input shaping control scheme.