Adaptive input shaping for nonlinear systems

A case study

John Stergiopoulos, Antonios Tzes

    Research output: Contribution to journalArticle

    Abstract

    Input shaping is a technique that seeks to reduce residual vibrations of lightly damped systems through modification of the command input to the system. Although several input shaping techniques have been derived primarily from linear system theory, theoretical results are hard to be traced for their application to nonlinear systems. In most of the reported cases, a fixed shaper is designed based on the linearized version around an operating point of the nonlinear system. In this paper, an adaptive form of the input shaper is proposed for a class of nonlinear lightly damped systems. The adaptive shaper adjusts the magnitude and relative time difference between its impulses according to the instant frequency and damping of the linearized systems. The efficacy of the proposed scheme and its comparison to a fixed shaper is investigated through its application to a pendulum system. The adaptive shaper's parameters vary according to the pendulum's angle. The illustrative examples indicate the deficiencies of the fixed case and demonstrate the efficacy of the designed controller.

    Original languageEnglish (US)
    Pages (from-to)219-223
    Number of pages5
    JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
    Volume129
    Issue number2
    DOIs
    StatePublished - Mar 1 2007

    Fingerprint

    shapers
    Pendulums
    nonlinear systems
    Nonlinear systems
    System theory
    Linear systems
    pendulums
    Damping
    Controllers
    commands
    linear systems
    impulses
    controllers
    damping
    vibration

    Keywords

    • Input shaping
    • Nonlinear systems
    • Residual vibration

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Information Systems
    • Instrumentation
    • Mechanical Engineering
    • Computer Science Applications

    Cite this

    Adaptive input shaping for nonlinear systems : A case study. / Stergiopoulos, John; Tzes, Antonios.

    In: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 129, No. 2, 01.03.2007, p. 219-223.

    Research output: Contribution to journalArticle

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