Performance comparison of robust negative input shapers

Joshua Vaughan, Aika Yano, William Singhose

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

Input shaping is a control method that limits motion-induced oscillation in vibratory systems by intelligently shaping the reference command. As with any control method, the robustness of input shaping to parameter variations and modeling errors is important. Input shaping has fundamental compromise between robustness and shaper duration, which is closely related to system rise time. For all shapers, greater robustness requires a longer duration shaper. However, if the shaper is allowed to have negative impulses, then the shaper duration may be shortened, at the expense of possible high mode excitation and a small decrease in robustness. This paper analyzes the compromise between shaper duration and robustness for several robust, negative input shapers. In addition, a formulation for Specified Negative Amplitude, Specified Insensitivity (SNA-SI) shapers is presented. These shapers provide a continuous spectrum of solutions for the duration/robustness trade-off. Experimental results from a portable bridge crane verify the theoretical predictions.

Original languageEnglish
Title of host publication2008 American Control Conference, ACC
Pages3257-3262
Number of pages6
DOIs
StatePublished - 2008
Externally publishedYes
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Conference

Conference2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA
Period06/11/0806/13/08

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