Eliminating Nonzero Initial States in Flexible Systems through Specified Insensitivity Input Shaping

Daniel Newman; Seong Wook Hong; Joshua Vaughan

doi:10.23919/ACC.2018.8431862

Eliminating Nonzero Initial States in Flexible Systems through Specified Insensitivity Input Shaping

Daniel Newman, Seong Wook Hong, Joshua Vaughan

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Scopus citations

Abstract

The control of human-operated flexible systems is a problem that has generated significant research. A variety of methods have been proposed to eliminate disturbances to flexible systems. By simplifying disturbances by representing them as impulses that generate initial conditions, some researchers have used impulse-based command generation to reduce existing vibration. This approach closely resembles the common open-loop input shaping method. However, existing literature does not thoroughly account for robustness requirements. This paper expands on the concept of initial condition input shaping and proposes a method of providing robustness to variations in natural frequency. The concept of Specified Insensitivity is used to generate these robust input shapers. Experimental results are provided which support these findings.

Original language	English
Title of host publication	2018 Annual American Control Conference, ACC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3374-3379
Number of pages	6
ISBN (Print)	9781538654286
DOIs	https://doi.org/10.23919/ACC.2018.8431862
State	Published - Aug 9 2018
Externally published	Yes
Event	2018 Annual American Control Conference, ACC 2018 - Milwauke, United States Duration: Jun 27 2018 → Jun 29 2018

Publication series

Name	Proceedings of the American Control Conference
Volume	2018-June
ISSN (Print)	0743-1619

Conference

Conference	2018 Annual American Control Conference, ACC 2018
Country/Territory	United States
City	Milwauke
Period	06/27/18 → 06/29/18

Funding

this research. The authors also thank the National Science Foundation and the Korean National Research Foundation for providing funding through the East Asia Pacific Summer Institutes (EAPSI) program, Award No. 1714041.

Access to Document

10.23919/ACC.2018.8431862

Cite this

Newman, D., Hong, S. W., & Vaughan, J. (2018). Eliminating Nonzero Initial States in Flexible Systems through Specified Insensitivity Input Shaping. In 2018 Annual American Control Conference, ACC 2018 (pp. 3374-3379). Article 8431862 (Proceedings of the American Control Conference; Vol. 2018-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ACC.2018.8431862

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title = "Eliminating Nonzero Initial States in Flexible Systems through Specified Insensitivity Input Shaping",

abstract = "The control of human-operated flexible systems is a problem that has generated significant research. A variety of methods have been proposed to eliminate disturbances to flexible systems. By simplifying disturbances by representing them as impulses that generate initial conditions, some researchers have used impulse-based command generation to reduce existing vibration. This approach closely resembles the common open-loop input shaping method. However, existing literature does not thoroughly account for robustness requirements. This paper expands on the concept of initial condition input shaping and proposes a method of providing robustness to variations in natural frequency. The concept of Specified Insensitivity is used to generate these robust input shapers. Experimental results are provided which support these findings.",

author = "Daniel Newman and Hong, {Seong Wook} and Joshua Vaughan",

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year = "2018",

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day = "9",

doi = "10.23919/ACC.2018.8431862",

language = "English",

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Newman, D, Hong, SW & Vaughan, J 2018, Eliminating Nonzero Initial States in Flexible Systems through Specified Insensitivity Input Shaping. in 2018 Annual American Control Conference, ACC 2018., 8431862, Proceedings of the American Control Conference, vol. 2018-June, Institute of Electrical and Electronics Engineers Inc., pp. 3374-3379, 2018 Annual American Control Conference, ACC 2018, Milwauke, United States, 06/27/18. https://doi.org/10.23919/ACC.2018.8431862

Eliminating Nonzero Initial States in Flexible Systems through Specified Insensitivity Input Shaping. / Newman, Daniel; Hong, Seong Wook; Vaughan, Joshua.
2018 Annual American Control Conference, ACC 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 3374-3379 8431862 (Proceedings of the American Control Conference; Vol. 2018-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - The control of human-operated flexible systems is a problem that has generated significant research. A variety of methods have been proposed to eliminate disturbances to flexible systems. By simplifying disturbances by representing them as impulses that generate initial conditions, some researchers have used impulse-based command generation to reduce existing vibration. This approach closely resembles the common open-loop input shaping method. However, existing literature does not thoroughly account for robustness requirements. This paper expands on the concept of initial condition input shaping and proposes a method of providing robustness to variations in natural frequency. The concept of Specified Insensitivity is used to generate these robust input shapers. Experimental results are provided which support these findings.

AB - The control of human-operated flexible systems is a problem that has generated significant research. A variety of methods have been proposed to eliminate disturbances to flexible systems. By simplifying disturbances by representing them as impulses that generate initial conditions, some researchers have used impulse-based command generation to reduce existing vibration. This approach closely resembles the common open-loop input shaping method. However, existing literature does not thoroughly account for robustness requirements. This paper expands on the concept of initial condition input shaping and proposes a method of providing robustness to variations in natural frequency. The concept of Specified Insensitivity is used to generate these robust input shapers. Experimental results are provided which support these findings.

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Eliminating Nonzero Initial States in Flexible Systems through Specified Insensitivity Input Shaping

Abstract

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