A New Trajectory Optimizing Method Using Input Shaping Principles
Input shaping is an efficient control technique which has motivated a great number of contributions in recent years. Such a technique generates command signals that can manoeuvre flexible structures without exciting their vibration modes. This paper introduces a new trajectory optimizing method base...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Shock and Vibration |
| Online Access: | http://dx.doi.org/10.1155/2018/4173253 |
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| Summary: | Input shaping is an efficient control technique which has motivated a great number of contributions in recent years. Such a technique generates command signals that can manoeuvre flexible structures without exciting their vibration modes. This paper introduces a new trajectory optimizing method based on input-shaping principles. The main characteristic of this method in comparison with traditional input-shaping technique is the generating process of final trajectory. By adding reversion and postprocessing procedures before input shapers, time-delay and most of the trajectory deviation can be removed. The improvement of the proposed method compared with a traditional method is evaluated by simulations. It will be shown that the proposed method leads to no time-delay and highly decreased trajectory deviation and little change of robustness. |
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| ISSN: | 1070-9622 1875-9203 |