Frequency weighted <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML" display="inline" id="d1e150" altimg="si114.svg"><mml:msub><mml:mrow><mml:mi>H</mml:mi></mml:mrow><mml:mrow><mml:mn>2</mml:mn></mml:mrow></mml:msub></mml:math> optimization of multi-mode input shaper

Goubej, Martin; Vyhlídal, Tomáš; Schlegel, M.

doi:10.1016/j.automatica.2020.109202

Cited by 8 publications

(3 citation statements)

References 21 publications

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“…Nevertheless, the main contribution of this paper lies in involving a distributed delay instead of the standard lumped delay in the harmonics compensation. This research direction builds up on the results of the broader authors team gained from the application of distributed delay in input shaping [18], [19], [20], [21] and vibration control, [22], [23], [24]. The main benefit of involving the distributed delay stems from the retarded spectral features at the high-frequency range.…”

Section: B Distributed Delays In Control and Compensationmentioning

confidence: 99%

Internal Model Control with Distributed-Delay-Compensator to Attenuate Multi-Harmonic Periodic Disturbance of Time-Delay System

Yuksel

Bušek

Vyhlídal

et al. 2021

2021 60th IEEE Conference on Decision and Control (CDC)

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A distributed-delay based compensator for the Internal Model Control scheme is introduced as an alternative to the repetitive control structure to attenuate periodic disturbance with multiple harmonics. Besides the periodic signal attenuation, the scheme is derived to compensate an input time-delay of the controlled system. Next, the performance requirements on the spectral, frequency, and time domain characteristics are used for an optimization-based design. The task is to minimize the H∞ norm of the weighted sensitivity, while the spectral and structural properties comply with the constraints. The proposed design is tested on a model of a hot rolling process, which motivates the research. Numerical analysis and simulation-based verification complete the presentation.

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Section: B Distributed Delays In Control and Compensationmentioning

confidence: 99%

Internal Model Control with Distributed-Delay-Compensator to Attenuate Multi-Harmonic Periodic Disturbance of Time-Delay System

Yuksel

Bušek

Vyhlídal

et al. 2021

2021 60th IEEE Conference on Decision and Control (CDC)

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“…Typical scenarios include, for example, a rigid body system, flexible load with one or several dominant bending modes, friction-dominant system, unbalanced rotor system etc. The setup proved to be a valuable benchmark problem for the evaluation of various methods from the field of mechatronics, including modelling, identification, and feedback control design [11][12][13][14].…”

Section: Flexible Arm Benchmark Problemmentioning

confidence: 99%

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

et al. 2021

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The paper deals with development of a methodology for mechatronic system design using state-of-the-art model-based system engineering methods. A simple flexible robotic arm is considered as a benchmark problem for the evaluation of various techniques used in the phases of modelling, analysis, control system design, validation, and implementation. The flexible nature of the mechanical structure introduces inherently oscillatory dynamics in the target bandwidth range, which complicates all the above-mentioned design steps. This paper demonstrates the process of deriving a complex nonlinear model of the flexible arm setup. An initial idea about the plant dynamics is acquired from analytical modelling using the Euler–Bernoulli beam theory. A more thorough understanding is subsequently acquired from finite element analysis. Linearisation and order reduction are the next steps necessary for the derivation of a simplified control-relevant model. A time-dependent variable parameter of load mass position is considered and a robust controller is subsequently designed in order to fulfil certain performance criteria for all the admissible plant configurations. This is performed using a recent H-infinity loop shaping method for fixed structure controller design. The results are validated by means of a physical plant, comparing the experimental data with the model predictions.

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“…Desde então vários shapers foram propostos e aplicados [Kasprowiak et al 2022, Mohammed et al 2020, partindo da versão mais simples com apenas dois sinais (Zero Vibration ZV), também denominado posicast de meio ciclo. Versões mais robustas à incertezas paramétricas como o Zero Vibration Derivative (ZVD) foram comparadas em [Singhose et al 1995] e estratégias adaptativas como em [Dhame and Jayasuriya 2003] e de identificac ¸ão de frequências [Chatlatanagulchai et al 2015, Chu and Hu 2016, Goubej et al 2020 foram combinadas nesta mesma perspectiva de agregac ¸ão de insensibilidade paramétrica e reprojeto em tempo de execuc ¸ão. Não identificou-se contudo aplicac ¸ões do input shaping em sistemas de suspensão de máquinas agrícolas ou de seus implementos, como é o caso de barras de pulverizac ¸ão.…”

Section: Introduc ¸ãOunclassified

Suavização de Oscilações em Barra de Pulverização com Input Shapping e Controle Adaptativo Robusto por Modelo de Referência

Lima,

Oliveira

2023

Anais Do XIV Congresso Brasileiro De Agroinformática (SBIAGRO 2023)

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A necessidade da barra de pulverização agrícola estar paralela ao solo durante a operação requer sistemas de suspensão ativa com controladores que reduzam ao máximo as oscilações associadas ao movimento de rolagem. Este trabalho propõe a integração da técnica input shaping de vibração nula (ZV) com controladores adaptativos robustos baseados em modelo, o MRAC e o VS-MRAC, comparando seus resultados. A robustez do VS-MRAC é evidenciada com ganhos de rastreamento e sinal de controle quando o mesmo é integrado ao input shaping.

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Frequency weighted H2 optimization of multi-mode input shaper

Cited by 8 publications

References 21 publications

Internal Model Control with Distributed-Delay-Compensator to Attenuate Multi-Harmonic Periodic Disturbance of Time-Delay System

Internal Model Control with Distributed-Delay-Compensator to Attenuate Multi-Harmonic Periodic Disturbance of Time-Delay System

Employing Finite Element Analysis and Robust Control Concepts in Mechatronic System Design-Flexible Manipulator Case Study

Suavização de Oscilações em Barra de Pulverização com Input Shapping e Controle Adaptativo Robusto por Modelo de Referência

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