Journal
AUTOMATICA
Volume 49, Issue 11, Pages 3425-3431Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2013.08.015
Keywords
Motion control; Input shaping technique; Command shaping; Robust input shaper
Funding
- National Research Foundation of Korea (NRF)
- Korea government, Korea [MOE:2011-0010827, MSIP:2013-006603]
Ask authors/readers for more resources
In this paper, perturbation-based extra-insensitive input shapers (PEI-ISs) are proposed to enhance the robustness of the input shaping technique. The extra-insensitive input shaper (EI-IS) has been known to be more robust than the so-called derivative input shapers such as ZVD, ZVDD, and ZVDDD shapers. However, the robustness of the known EI-IS is restricted by the symmetric property in the sensitivity curve. To address this, the PENS is devised by multiplying a series of input shapers in the Laplace domain, of which the impulse times are slightly perturbed from those of the zero vibration (ZV) shaper. For a single-hump case, a closed-form solution to the PEI-IS is provided. For two- and three-hump cases, the approximate solutions are presented. The robustness is evaluated by simulations and assessed by means of the insensitivity. It will be shown that the proposed PEI-IS does improve the robustness and that it can be easily designed. (C) 2013 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available