Title :
Input shaping controllers for slewing flexible structures
Author :
Watkins, J. ; Yurkovich, S.
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Abstract :
Several input shaping controllers are developed for slewing flexible structures. These controllers are verified experimentally on a flexible planar truss testbed. Two open-loop input shaping schemes are considered: the first with a pulse input, and the second with the reference input corresponding to the rigid body minimum time solution. Input shaping feedback schemes include the use of a shaper as a precompensator for a proportional-derivative controller with acceleration feedback and the development of a discrete-time dynamic system representation of input shaping which allows for design of feedback outside the shaper
Keywords :
discrete time systems; distributed parameter systems; feedback; two-term control; acceleration feedback; discrete-time dynamic system; flexible planar truss testbed; flexible structures; input shaping controllers; precompensator; proportional-derivative controller; shaper; slewing; Acceleration; Control systems; Feedback; Flexible structures; Open loop systems; PD control; Proportional control; Pulse shaping methods; Shape control; Testing;
Conference_Titel :
Control Applications, 1992., First IEEE Conference on
Conference_Location :
Dayton, OH
Print_ISBN :
0-7803-0047-5
DOI :
10.1109/CCA.1992.269878
