Parameterization of input shapers with delays of various distribution

Vyhlídal, Tomáš; Hromčík, Martin

doi:10.1016/j.automatica.2015.06.025

Cited by 47 publications

(56 citation statements)

References 25 publications

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“…The parameterization was proposed numerically in Vyhlidal et al (2013c). Recently, a fully analytical design was proposed in Vyhlidal et al (2015a).…”

Section: S(s)mentioning

confidence: 99%

“…2, where we compare DZV shaper (4) with a standard ZV shaper described by (5) This lack of robustness can be overcome by considering more robust alternatives, e.g. ZVD or EI shapers with classical delays, see Singhose et al (1997) or their alternatives with distributed delays proposed recently in Vyhlidal et al (2015a), see also preliminary work Vyhlidal et al (2013d). As the extension of the derived results towards robust shapers applications is straightforward, for simplicity, the zero vibration shapers are considered in this work only.…”

Section: S(s)mentioning

confidence: 99%

“…The flexible structure oscillatory mode to be compensated is defined with natural frequency ω 0 = 5s −1 and damping ratio ζ = 0.01. The input shaper (4) parameters to compensate the given oscillatory mode are determined as a = 0.509 and τ = 0.629s, Vyhlidal et al (2015a). The thin blue curve is the system without shaper and the thick red is the system with inverse shaper.…”

Section: Simulation Examplementioning

confidence: 99%

“…However, none of the classical shapers with lumped delay is applicable, as the overall closed loop would be of undesirable neutral dynamics. Instead, new types of shapers based on distributed delays need to be applied,Vyhlidal et al (2013b),Vyhlidal et al (2013c), Vyhlidal et al (2015a providing retarded dynamics of the closed loop system.…”

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Spectral design of output feedback controllers for systems pre-compensated by input shapers∗∗The presented research has been supported by the Czech Science Foundation under the project No. 13–06962S, by the Programme of Interuniversity Attraction Poles of the Belgian Federal Science Policy Office(IAP P6–DYSCO), by OPTEC, the Optimization in Engineering Center of the KU Leuven, and the project G.0712.11N and G.0717.11N of the Research Foundation –Flanders (FWO).

2015

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The primary objective is to investigate the applicability of spectral methods for designing feedback controllers for a closed loop system with an input shaper with time delays. The shaper is included in the feedback loop in order to pre-compensate low-damped oscillatory modes of a flexible subsystem. However, after inserting a shaper into the feedback loop, the closed loop dynamics becomes infinite dimensional. A robust controller design then requires guaranteeing that all the infinitely many poles of the closed loop system will safely be located in the left half of the complex plane. Besides, the closed loop dynamics need to be sufficiently fast in order to take over and keep filtering properties of the input shaper. For the spectral design of the controller, the recently developed spectral abscissa minimization approach for interconnected time delay systems is applied. The presented methods are tested on a case study simulation example, which is a multi-degree of freedom mechanical system.

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“…The parameterization was proposed numerically in Vyhlidal et al (2013c). Recently, a fully analytical design was proposed in Vyhlidal et al (2015a).…”

Section: S(s)mentioning

confidence: 99%

Section: S(s)mentioning

confidence: 99%

Section: Simulation Examplementioning

confidence: 99%

mentioning

confidence: 99%

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Spectral design of output feedback controllers for systems pre-compensated by input shapers∗∗The presented research has been supported by the Czech Science Foundation under the project No. 13–06962S, by the Programme of Interuniversity Attraction Poles of the Belgian Federal Science Policy Office(IAP P6–DYSCO), by OPTEC, the Optimization in Engineering Center of the KU Leuven, and the project G.0712.11N and G.0717.11N of the Research Foundation –Flanders (FWO).

2015

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“…However, compared to [13] where the shaper involves many lumped delays, our objective is to optimize a shape of a single delay of distributed nature. This will be done by adapting the recently proposed technique [14] to the multimode problem, see also [15] and [16].…”

Section: A Extension To Infinite Dimensional Systemsmentioning

confidence: 99%

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

Pilbauer

Bresch‐Pietri

Meglio

et al. 2018

2018 European Control Conference (ECC)

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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.

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A Comparison of Shaper-Based and Shaper-Free Architectures for Feedforward Compensation of Flexible Modes

Pilbauer

Michiels

Vyhlídal

2019

Delays and Interconnections: Methodology, Algorithms and Applications

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Delay based reference shaping is a broadly used technique, very easy to implement and with good filtering properties. Guaranteeing the filtering property for input and output disturbances as well, motivated the developments of novel control architectures where delay based shapers appear in feedback loops as inverse shapers. Intuitively, one may ask to what extent the explicit inclusion of shapers is necessary, i.e., whether similar filtering properties could be induced by a suitable parameterization of the controller, which would have as additional advantage that the closed loop system would remain finite-dimensional. The aim of the chapter is to shed a light on this matter and provide answers. For this, a scheme with an inverse shaper is compared with a classical control scheme, where constraints on the location of the controller's zeros are added in the design, in order to induce the filtering property. Both methods are presented with numerical examples, concluding with a discussion of the results. It is show, among others, that filtering is indeed possible by an appropriate controller design, but at the same time, major limitations appear, that further motivate the use of delay based shapers.

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Parameterization of input shapers with delays of various distribution

Cited by 47 publications

References 25 publications

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

A Comparison of Shaper-Based and Shaper-Free Architectures for Feedforward Compensation of Flexible Modes

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