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http://dx.doi.org/10.3795/KSME-A.2011.35.11.1423

Learning Input Shaping Control with Parameter Estimation for Nonlinear Actuators  

Kim, Deuk-Hyeon (Dept. of Mechanical Engineering, Chosun Univ.)
Sung, Yoon-Gyung (Dept. of Mechanical Engineering, Chosun Univ.)
Jang, Wan-Shik (Dept. of Mechanical Engineering, Chosun Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.35, no.11, 2011 , pp. 1423-1428 More about this Journal
Abstract
This paper proposes a learning input shaper with nonlinear actuator dynamics to reduce the residual vibration of flexible systems. The controller is composed of an estimator of the time constant of the nonlinear actuator dynamics, a recursive least squares method, and an iterative updating algorithm. The updating mechanism is modified by introducing a vibration measurement function to cope with the dynamics of nonlinear actuators. The controller is numerically evaluated with respect to parameter convergence and control performance by using a benchmark pendulum system. The feasibility and applicability of the controller are demonstrated by comparing its control performance to that of an existing controller algorithm.
Keywords
Flexible System; Learning Input Shaping Control; Nonlinear Actuator; 1st-Order System; Residual Deflection;
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