An adaptive algorithm for the tuning of two input shaping methods

Author

Bodson, Marc

Author_Institution

Dept. of Electr. Eng., Utah Univ., Salt Lake City, UT, USA

Volume

3

fYear

1997

fDate

4-6 Jun 1997

Firstpage

1340

Abstract

Presents an adaptive algorithm for the tuning of two input shaping methods designed to prevent the excitation of oscillatory modes in resonant systems. The first method produces a control signal that is the linear combination of delayed versions of the reference input. The transfer function of the control system has an infinite number of complex zeros, with some of them placed exactly at the locations of the resonant modes of the plant. In contrast, the second method is based on a pole/zero cancellation of the resonant modes using a finite-dimensional controller. An adaptive algorithm is used for the tuning of both methods. Experimental results are presented for a system in which a motor is used to control the position of a flexible arm. The control performance is shown to be comparable for both methods and the adaptive algorithm is found to be both simple and effective for fast adaptation

Keywords

adaptive control; feedforward; manipulators; multidimensional systems; poles and zeros; position control; transfer functions; vibration control; adaptive algorithm; complex zeros; finite-dimensional controller; flexible arm; input shaping methods; oscillatory modes; pole/zero cancellation; resonant systems; tuning; Adaptive algorithm; Cities and towns; Control systems; Delay effects; Design methodology; Poles and zeros; Resonance; Shape control; Transfer functions; Tuning;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1997. Proceedings of the 1997

Conference_Location

Albuquerque, NM

ISSN

0743-1619

Print_ISBN

0-7803-3832-4

Type

conf

DOI

10.1109/ACC.1997.610616

Filename

610616