Robust Input Shaping Controller for Slewing Uncertain Flexible Structures

모델 불확실성에 강인한 유연구조물의 입력설계

  • 황재혁 (한국항공대학교 항공기계공학과) ;
  • 공병식 (한국항공대학교 대학원) ;
  • 이성춘 (한국항공대학교 대학원)
  • Published : 1997.04.01

Abstract

This paper compares input shaping techniques for controlling residual vibration of flexible structures. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. Both feedforward and feedback control approaches with/without input shaper for uncertain dynamical systems are investigated to evaluate the control performances. The control objective is to achieve a fast settling time and robustness to plant uncertainty, to eliminate residual vibrations. It is shown by a series of simulation that a properly designed feedback controller with input shaper performs well, as compared with open-loop controller with input shaper.

Keywords