Impulse Vectors for Input-Shaping Control: A Mathematical Tool to Design and Analyze Input Shapers

Kang, Chul-Goo

doi:10.1109/mcs.2019.2913610

Cited by 15 publications

(12 citation statements)

References 29 publications

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“…The three-impulse shaper or Zero Vibration Derivative (ZVD) shaper is more robust than the ZV shaper. More results can be seen in [14,15]. By convolving the reference input and the above impulse series, the vibration can be suppressed.…”

Section: Input Shaping Methodsmentioning

confidence: 94%

“…Step 2: Choose the appropriate input preshaping techniques such as ZV, ZVD, etc. See [14,15] for more details about IS techniques.…”

Section: Controller Designingmentioning

confidence: 99%

“…T and ? U to minimize the system settling time by solving the following optimization problem: minimizing (21) with constraints ( 12), (15), and (30).…”

Section: Controller Designingmentioning

confidence: 99%

“…Among them, input shaping [13], which convolves a sequence of impulses with the command signal, is one of the most attractive techniques. Various improvements and applications of input shaping have been reported [14,15]. The input shaping technique has also been used along with feedback control to optimize the system performance [16][17][18][19][20][21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Settling Time Optimization of a Critically Damped System with Input Shaping for Vibration Suppression Control

Duong

Dao²,

Do³

2022

Eng. Technol. Appl. Sci. Res.

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The input shaping technique is widely used as feedforward control for vibration suppression of flexible dynamic systems. The main disadvantage of the input shaping technique is the increasing system time response since the input shaper contains time delay parts. However, with the same reference input, the actuator effort in the case of using an input shaper is smaller than the one in the case without an input shaper. Thus, it is possible to decrease the system response time by designing the feedback controller to maximize the actuator effort. This paper proposes a design approach to design the Proportional-Derivative (PD) controller for position control of the actuator so that the settling time of the flexible system with input shaper is minimized. The actuator system with a PD controller is equivalent to a critically damped system, and the condition for the controller gains is established. In addition, the settling time and actuator effort with shaped step input are calculated. The controller gains can be determined by solving the settling time optimization problem with the actuator effort constraint. The effectiveness of the proposed approach is verified via experiments with an overhead crane model.

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Section: Input Shaping Methodsmentioning

confidence: 94%

“…Step 2: Choose the appropriate input preshaping techniques such as ZV, ZVD, etc. See [14,15] for more details about IS techniques.…”

Section: Controller Designingmentioning

confidence: 99%

“…T and ? U to minimize the system settling time by solving the following optimization problem: minimizing (21) with constraints ( 12), (15), and (30).…”

Section: Controller Designingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Settling Time Optimization of a Critically Damped System with Input Shaping for Vibration Suppression Control

Duong

Dao²,

Do³

2022

Eng. Technol. Appl. Sci. Res.

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“…Kang [ 21 ] has recently introduced an impulse vector as a mathematical tool for designing an input shaper. Residual vibrations can be suppressed regardless of the damping condition by designing input shapers using impulse vectors such that the sum of the impulse vectors in the polar coordinate plane becomes zero.…”

Section: Introductionmentioning

confidence: 99%

Specified-duration shapers for suppressing residual vibrations

Kang

2022

PLoS ONE

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Input-shaping control has received considerable research attention for suppressing residual vibrations. Although numerous studies have been conducted on designing input shapers with arbitrary robustness to modeling errors, no studies have focused on the design of input shapers with arbitrarily specified shaping times. In this study, a specified-duration (SD) shaper, which is an input shaper with an arbitrarily specified shaping time, and a systematic method to design an SD shaper using impulse vectors are proposed. As the specified shaping time increases, the SD shaper increases the number of impulses one by one according to the number of added derivative constraints, thereby improving robustness to modeling errors. The performance of the SD shaper was evaluated for a second-order system through computer simulations. The simulation results revealed that the SD shaper suppresses residual vibrations of the vibratory system at the specified shaping time. The validity of the SD shaper was experimentally verified using a horizontal beam vibration apparatus. The results of this study provide insight into the development of vibration suppression strategies with input shaping control.

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