Adaptive input shaping for nonlinear systems: A case study

John Stergiopoulos, Anthony Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 with 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)
Title of host publicationProceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Pages188-193
Number of pages6
DOIs
StatePublished - 2005
Event20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05 - Limassol, Cyprus
Duration: Jun 27 2005Jun 29 2005

Publication series

NameProceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05
Volume2005

Other

Other20th IEEE International Symposium on Intelligent Control, ISIC '05 and the13th Mediterranean Conference on Control and Automation, MED '05
CountryCyprus
CityLimassol
Period6/27/056/29/05

ASJC Scopus subject areas

  • Engineering(all)

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