International Journal of Control, Automation, and Systems 2024; 22(12): 3632-3640
https://doi.org/10.1007/s12555-024-0511-2
© The International Journal of Control, Automation, and Systems
In input shaping control aimed at reducing residual vibrations, a specified-duration (SD) shaper was proposed as an input shaper with arbitrarily specified shaping time. However, the SD shaper could only be applied when the shaping time was greater than half a period. In this paper, a negative SD shaper is proposed, which can arbitrarily control the shaping time to be shorter than half a period. Unlike conventional SD shapers that use only positive impulses, the proposed negative SD shaper introduces negative impulses. For undamped systems, the method yields a closed-form solution, while for underdamped systems, a numerical solution is provided. Through simulation studies, the residual vibration suppression performance and shaping time of step responses regarding modeling errors of the proposed negative SD shaper are evaluated. The validity of the negative SD shaper is experimentally verified using an experimental setup with a container model.
Keywords Input shaping, negative impulse vector, negative specified-duration, residual vibration, specifiedduration.
International Journal of Control, Automation, and Systems 2024; 22(12): 3632-3640
Published online December 1, 2024 https://doi.org/10.1007/s12555-024-0511-2
Copyright © The International Journal of Control, Automation, and Systems.
Brian Byunghyun Kang
Sejong University
In input shaping control aimed at reducing residual vibrations, a specified-duration (SD) shaper was proposed as an input shaper with arbitrarily specified shaping time. However, the SD shaper could only be applied when the shaping time was greater than half a period. In this paper, a negative SD shaper is proposed, which can arbitrarily control the shaping time to be shorter than half a period. Unlike conventional SD shapers that use only positive impulses, the proposed negative SD shaper introduces negative impulses. For undamped systems, the method yields a closed-form solution, while for underdamped systems, a numerical solution is provided. Through simulation studies, the residual vibration suppression performance and shaping time of step responses regarding modeling errors of the proposed negative SD shaper are evaluated. The validity of the negative SD shaper is experimentally verified using an experimental setup with a container model.
Keywords: Input shaping, negative impulse vector, negative specified-duration, residual vibration, specifiedduration.
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