Input shaping for infinite dimensional systems with application on oil well drilling

Abstract

We present an application of the input shaping technique on infinite dimensional systems such as systems described by PDEs. The presented method is a feedforward scheme which allows to target multiple modes of a flexible system and also provide robustness with respect to parameters variations. The method is based on recently developed input shaper with multiple degrees of freedom that are needed to meet all constraints for the given task. We show that, even though the system consists of infinitely many modes, it is required to target only dominant ones. In addition, the method is illustrated on a case example of oil well drilling.

A learning trajectory planning for vibration suppression of industrial robot

“…Input shaping is widely used because of simple design, wide application range and good vibration suppression ability. Up to now, it has been used in many applications, such as crane systems (Ramli et al , 2017), continuum beams (Fortgang et al , 2005), oil well drillings (Pilbauer et al , 2018) and flexible joint robot manipulators (Chatlatanagulchai et al , 2016). However, input shaping only focuses on the suppression of residual vibration, which is of no help to the vibration problem in the running process and even causes contour error due to the change of timing sequence of each joint.…”

Boundary feedback control of an anti-stable wave equation

“…Delay system techniques are used in [24,38,39,41,21,4], but require λ = 0, which leads to an oversimplified model. Input shaping is used in [32], but as presented, also requires the un-damped model λ = 0.…”