Reduced-modification input shapers for manually controlled systems with flexibility

Potter, James J.; Singhose, William

doi:10.1109/acc.2014.6858914

Cited by 3 publications

(1 citation statement)

References 21 publications

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“…Moreover, the delay time of every impulse D x could choose freely and independently within a certain range, different values of D x would bring different values of coefficients in the input shaper. 15 From equations (1-2) and (11)(12)(13), it could be seen that RLS is calculating the corresponding values of input shaper to make the error's quadratic sum minimum. However, it could be known from equations ( 11) and ( 12) that traditional RLS used in AIS would calculate the least square solution of I/O data from time zero to time N. Thus, with the increase in N in long-running, and the larger total amount of I/O data, the new I/O data could hardly affect the coefficients of input shapers; thus, the problem of insufficient adaptability occurs.…”

Section: Review Of Zrv Condition and Traditional Rlsmentioning

confidence: 99%

An improved recursive least square–based adaptive input shaping for zero residual vibration control of flexible system

Chu

2016

Advances in Mechanical Engineering

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In this article, a promoted method of adaptive input shaping based on recursive least square with forgetting factor is proposed to achieve zero residual vibration of time-varying flexible systems. First, the zero residual vibration condition of the flexible system is reviewed. Then, the mathematical analysis of recursive least square-based adaptive input shaping is presented; it can be seen that the traditional recursive least square method could calculate the least square solution with all historical I/O data. That is to say, with the increase in time and larger amount of I/O data, the current data could hardly affect the results of the updated input shapers' coefficients; thus, the problems of insufficient adaptability and noise accumulation occur. So, a forgetting factor is introduced in the recursive calculation to give less calculation weight on historical data and improve the sensitivity of the current data; thus, the above-mentioned problem could be significantly avoided. At last, the verification experiments of adaptive input shaping are implemented on a two-link flexible manipulator, which is a classical flexible system with severely time-varying dynamics; the results validate the effectiveness of the improved adaptive input-shaping method for the vibration control of these flexible systems.

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Section: Review Of Zrv Condition and Traditional Rlsmentioning

confidence: 99%