Title :
Oscillatory Effects of Common Hard Nonlinearities on Systems Using Two-Impulse ZV Input Shaping
Author :
Sorensen, Khalid ; Singhose, William
Author_Institution :
Georgia Inst. of Technol., Atlanta
Abstract :
Input shaping is an effective method for reducing the oscillatory motion of linear systems. However, hard nonlinearities, such as saturation, rate limiting, backlash, and dead-zone, can reduce the effectiveness of input shaping at suppressing oscillation. This paper quantifies these detrimental effects and presents mitigation strategies.
Keywords :
control nonlinearities; oscillations; common hard nonlinearities; detrimental effects; mitigation strategies; oscillation suppression; oscillatory motion reduction; rate limiting; two-impulse ZV input shaping; Cities and towns; Control nonlinearities; Control systems; Cranes; Frequency; Linear systems; Motion control; Nonlinear control systems; Robustness; Shape control;
Conference_Titel :
American Control Conference, 2007. ACC '07
Conference_Location :
New York, NY
Print_ISBN :
1-4244-0988-8
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2007.4282335
