An adaptive algorithm for the tuning of two input shaping methods
Automatica (Journal of IFAC)
Brief paper: Robust minimum time control of flexible structures
Automatica (Journal of IFAC)
Adaptive input shaping for maneuvering flexible structures
Automatica (Journal of IFAC)
Dissociated jerk-limited trajectory applied to time-varying vibration reduction
Robotics and Computer-Integrated Manufacturing
Automatica (Journal of IFAC)
Signal shaper with a distributed delay: Spectral analysis and design
Automatica (Journal of IFAC)
Hi-index | 22.15 |
Input shaping is an efficient feedforward control technique which has motivated a great number of contributions in recent years. Such a technique generates command signals with which manoeuvre flexible structures without exciting their vibration modes. This paper presents a novel adaptive input shaper based on an algebraic non-asymptotic identification. The main characteristic of the algebraic identification in comparison with other identification methods is the short time needed to obtain the system parameters without defining initial conditions. Thus, the proposed adaptive control can update the input shaper during each manoeuvre when large uncertainties are present. Simulations illustrate the performance of the proposed method.