Title :
Input shaping for a simple nonlinear system
Author :
Smith, Jonathan Y. ; Kozak, Kris ; Singhose, William E.
Author_Institution :
Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
Input shaping is a command modification technique for reducing system vibration that has been implemented successfully on a number of mechanical systems. Input shaping was developed from linear systems theory, but it has been applied successfully to many nonlinear systems. Of the approaches used to shape commands for nonlinear systems, very few address the specific nonlinearities of the systems directly. This paper addresses a special subset of configuration-dependent nonlinearities. The effect of input shaping on these types of systems is analyzed and key motion command parameters are extracted. This analysis is utilized to design effective zero-vibration input shapers for the class of nonlinear systems considered here.
Keywords :
control system analysis; damping; nonlinear systems; optimisation; vibration control; configuration-dependent nonlinearities; damping; input shaping; mechanical systems; motion command parameters; nonlinear systems; optimization; vibration control; Books; Convolution; Damping; Feedback; Frequency; Linear systems; Mechanical systems; Nonlinear systems; Robustness; Vibrations;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024916