NDLI: Input shaping/time delay control of maneuvering flexible structures

Content Provider	IEEE Xplore Digital Library
Author	Singh, T. Singhose, W.
Copyright Year	2002
Description	Author affiliation: Univ. of Buffalo, NY, USA (Singh, T.)
Abstract	Precise position control and rapid rest-to-rest motion is the desired objective in a variety of applications. The desire for reducing the maneuver time requires reducing the inertia of the structure which subsequently results in low frequency dynamics. The requirement of precise position control implies that the residual vibration of the structure should be zero or near zero. This paper presents techniques to shape the input to the system so as to minimize the residual vibration. A second class of problems which includes design of input profiles for systems with rigid-body modes driven by actuators with finite control authority, is also presented. The common thread which connects all the techniques presented in this paper is related to the design of controllers which are robust to modeling uncertainties. The proposed techniques are illustrated by simulations and experiments.
Sponsorship	American Autom. Control Council IFAC SICE
Starting Page	1717
Ending Page	1731
File Size	1265519
Page Count	15
File Format	PDF
ISBN	0780372980
ISSN	07431619
DOI	10.1109/ACC.2002.1023813
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-05-08
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Tutorial Delay effects Shape control Flexible structures Position control Frequency Vibration control Actuators Control systems Yarn
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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