Vibration Control Using Input Shaping and Adaptive Positive Position Feedback

Orszulik, Ryan R.; Shan, Jinjun

doi:10.2514/1.52287

Cited by 59 publications

(29 citation statements)

References 32 publications

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“…Let the state x 5 in (44) be the unmodeled dynamic (or modeling error), thus the nominal model for the positive position feedback (PPF) scheme [29][30][31][32][33][34] is…”

Section: Examplementioning

confidence: 99%

Second-order continuous characteristic model based adaptive control for a class of linear systems

Zhou

2017

Cluster Comput

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A novel second-order continuous characteristic model for a class of linear systems is proposed, which is different from the traditional discrete characteristic model. The proposed continuous characteristic model has convenient structure denoted by a second-order time-varying differential equation and is equivalent to its original plant in output for the same input. Then the continuous characteristic model is applied to a class of linear plants whose parameters are unknown bounded with bounded derivatives and output is affected by unknown bounded disturbances. As the characteristic parameters of the continuous characteristic model are usually fast time-varying, therefore, the robust adaptive dynamic surface control technique is combined with the continuous characteristic model. The design procedure of proposed adaptive control scheme is simple and the control law is easy to be implemented. With the continuous characteristic model, the state observer is not necessary and the plant system order and structure can be unknown. Finally, it has been proved that all the closed-loop signals are semi-globally uniformly ultimately bounded with the proposed adaptive control scheme. Simulation results have demonstrated that proposed adaptive control scheme has perfect performances.

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“…Let the state x 5 in (44) be the unmodeled dynamic (or modeling error), thus the nominal model for the positive position feedback (PPF) scheme [29][30][31][32][33][34] is…”

Section: Examplementioning

confidence: 99%

Second-order continuous characteristic model based adaptive control for a class of linear systems

Zhou

2017

Cluster Comput

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show abstract

“…The corresponding matrices and are all configuration dependent, including both components of the rigid motion and elastic motion . These coupled characteristics are also found in the system reduction procedure, since the closed-loop constraints equations (6), which are related to the motion of moving platform and vibration of the flexible links, are also used to eliminate the dependent coordinates and .…”

Section: Coupled Dynamic Analysis Of the Rigid And Elastic Motionmentioning

confidence: 99%

“…The input shaping control, as a feedforward vibration control method, is first to conduct the convolution between the input signals and a series of pulse signals, and then the shaped results are transferred to the robot/manipulator as new driving signals to suppress the unwanted vibration at the feedforward loop. Since Singer [4] proposed the input shaping method for vibration attenuation in the late 1980s, such method has been widely applied in many serial structure manipulators [5,6]. Cole and Wongratanaphisan [7] proposed a general approach to input shaping with finite impulse response (FIR) filters, and the corresponding controllers were verified experimentally on a flexible link planar manipulator.…”

Section: Introductionmentioning

confidence: 99%

Active Vibration Control and Coupled Vibration Analysis of a Parallel Manipulator with Multiple Flexible Links

Zhang

et al. 2016

Shock and Vibration

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This paper addresses the active vibration control and coupled vibration analysis of a planar parallel manipulator (PPM) with three flexible links. Multiple piezoelectric ceramic transducers are integrated with the flexible links to constitute the smart beam structures, and hence the vibration of the flexible link can be self-sensed and self-controlled. To prevent the spillover phenomena and improve the vibration control efficiency, the independent modal space control combined with an input shaper is developed to suppress both the structural and the residual vibration of the flexible links. The coupled vibration features between rigid and elastic motions and the interaction effects among three flexible links are theoretically analyzed based on the one-pass rigid-flexible dynamic models. Numerical simulation and experiment results show that the vibration of the three flexible links is coupled through the moving platform and the vibration suppression efficiency is getting improved with the number of controlled flexible links increased.

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“…On the other hand, the FE method can deal with complex structures and has a wider of applications. Orszulik and Shan [16,17] deduced the dynamic functions of a single-link manipulator based on the FE method in detail. Dubay et al [2] presented an approach for active vibration control of a single-link manipulator based on the FE model.…”

Section: Introductionmentioning

confidence: 99%

Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

Shao

Huang

Silberschmidt

2020

Shock and Vibration

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is paper presents a finite-element (FE) model of a manipulator with a flexible link and flexible joint as well as embedded PZT actuators and proposes a corrected rebuilt reduced model (CRRM) to make its dynamic characteristics more consistent with reality and facilitate control design. e CRRM considers the holding torque of the manipulator driving motor and eliminates the response divergence induced by a fault of the mass matrix of the FE model. In order to reduce the dimensions and maintain the precision of the model, an iterated improved reduction system (IIRS) method is adopted. Additionally, a LQR controller is designed based on the output function of the improved model. e simulation results demonstrate that the CRRM is consistent with reality and the active controller has good performance in suppressing vibration of the manipulator with both the flexible link and the flexible joint.

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Vibration Control Using Input Shaping and Adaptive Positive Position Feedback

Cited by 59 publications

References 32 publications

Second-order continuous characteristic model based adaptive control for a class of linear systems

Second-order continuous characteristic model based adaptive control for a class of linear systems

Active Vibration Control and Coupled Vibration Analysis of a Parallel Manipulator with Multiple Flexible Links

Intelligent Manipulator with Flexible Link and Joint: Modeling and Vibration Control

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