Title :
An adaptive input shaping control scheme for vibration suppression in slewing flexible structures
Author :
Tzes, Anthony ; Yurkovich, Stephen
Author_Institution :
Dept. of Mech. Eng., Polytech. Univ., New York, NY, USA
fDate :
6/1/1993 12:00:00 AM
Abstract :
The application of an input precompensation scheme for vibration suppression in slewing flexible structures, with particular application to flexible-link robotic manipulator systems, is considered. The control from such input shaping schemes corresponds to a feedforward term that convolves in real time the desired reference input with a sequence of impulses and produces a vibration-free output. The robustness of such an algorithm with respect to modal frequency variations is not satisfactory but can be improved by convolving the input with a longer sequence of impulses, the tradeoff being a decrease in the transient response speed. An adaptive precompensation scheme that can be implemented by combining a frequency domain identification scheme, used to estimate the modal frequencies online, with a subsequent scheme for adjusting the spacing between the impulses is proposed. The combined adaptive input shaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results for a single flexible link are presented to verify the technique
Keywords :
adaptive control; distributed parameter systems; frequency-domain analysis; identification; vibration control; adaptive input shaping control; adaptive precompensation; flexible-link robotic manipulator; frequency domain identification; input precompensation; modal frequency variations; slewing flexible structures; transient response; vibration suppression; Adaptive control; Flexible structures; Frequency estimation; Manipulators; Programmable control; Robots; Robustness; Shape control; Transient response; Vibration control;
Journal_Title :
Control Systems Technology, IEEE Transactions on