Adaptive precompensators for flexible-link manipulator control

Anthony P. Tzes, Stephen Yurkovich

Research output: Contribution to journalConference articlepeer-review


The application of input precompensators to flexible manipulators is considered. Frequency domain compensators color the input around the flexible mode locations, resulting in a bandstop or notch filter in cascade with the system. Time domain compensators apply a sequence of impulses at prespecified times related to the modal frequencies. The resulting control corresponds to a feedforward term that convolves in real-time the desired reference input with a sequence of impulses and produces a vibration-free output. An adaptive precompensator can be implemented by combining a frequency domain identification scheme which is used to estimate online the modal frequencies and subsequently update the bandstop interval or the spacing between the impulses. The combined adaptive input preshaping scheme provides the most rapid slew that results in a vibration-free output. Experimental results are presented to verify the results.

Original languageEnglish (US)
Pages (from-to)2083-2088
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1989
EventProceedings of the 28th IEEE Conference on Decision and Control. Part 2 (of 3) - Tampa, FL, USA
Duration: Dec 13 1989Dec 15 1989

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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