Open AccessDissertation
Command generation for flexible systems
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TLDR
In this paper, the shape of the reference commands is considered as a design variable rather than a given parameter, which can be used to reduce the detrimental effects of flexibility of a closed-loop controller.Abstract:
For many types of mechanical systems flexibility presents the biggest challenge to the control system. If the mechanical components undergo deflection during the course of operation, it may prove difficult to track a desired trajectory or avoid obstacles. Furthermore, once the system has reached a setpoint, the residual vibration will degrade positioning accuracy and may cause a delay in task completion. Even if the mechanical components are very stiff, a closed-loop controller may introduce flexibility of its own that is detrimental to system performance. The desired motion of a system is fed into a command generator that transforms the desired motion into a reference command. The reference command is then used to either drive an openloop system, or form an error signal for a closed-loop system. Not every control system has a closed-loop controller; however, every control system does have some form of command generator. In many systems the command generator may not be immediately obvious and it may not be programmed into a computer. For example, the command generator for a construction crane is the human operator who attempts to produce an appropriate reference command in real time. This thesis presents methods for designing command generators for flexible systems. Specifically, it is concerned with what shape the reference commands should have. If the commands have an appropriate shape, then they will produce the desired motion, while reducing the detrimental effects of flexibility. In this thesis, the reference command is treated as a design variable (within some bounds) rather than a given parameter. Thesis Committee: Prof. Warren P. Seering, Chairman Prof. Stephen H. Crandall Prof. Jean-Jacques E. Slotine Prof. George C. Verghese Dr. Neil C. Singerread more
Citations
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Using input command pre-shaping to suppress multiple mode vibration
James M. Hyde,Warren P. Seering +1 more
TL;DR: A method for the development of multiple mode input shapers which are simpler to implement than previous designs and produce smaller system response delays is presented.
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Reducing Vibration by Digital Filtering and Input Shaping
William Singhose,Joshua Vaughan +1 more
TL;DR: This paper expands on previous efforts by presenting a proof showing that input shapers suppress vibration more quickly than notch or low-pass filters, and the problem of suppressing multi-mode vibration is also examined.
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Hybrid fuzzy logic control with genetic optimisation for a single-link flexible manipulator
Mohammad S. Alam,M. O. Tokhi +1 more
TL;DR: A genetic algorithm (GA)-based hybrid fuzzy logic control strategy to achieve end-point vibration reduction of a single-link flexible manipulator with satisfactory level of overshoot, rise time, settling time, and steady-state error.
References
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Preshaping Command Inputs to Reduce System Vibration
Neil C. Singer,Warren P. Seering +1 more
TL;DR: In this paper, a method for generating shaped command inputs which significantly reduce or eliminate endpoint vibration is presented for the Space Shuttle Remote Manipulator System simulator (DRS), where the desired system inputs are altered so that the system completes the requested move without residual vibration.
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