Noise effect on adaptive command shaping methods for flexible manipulator control

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Title: Noise effect on adaptive command shaping methods for flexible manipulator control
Author: Rhim, Sungsoo ; Book, Wayne John
Abstract: Since its introduction, the command shaping method to design command shapers as robust as possible based on the has been applied to the control of many types of flexible manipu- available infonnation on a given system (e.g., expected varialators and sthe effectiveness in the vibration suppression has been tion range of the natural frequency) [11]. Unfortunately, the roverified. However, designing an effective command shaper requires a priori knowledge about the system parameters. Recently, some bustness of the shaper comes at the expense of the command efforts have been made to make the command shaper adapt to the shaper length, which means more delay in the response. Morechanges in the system parameters. In this paper, the indirect and _. over, this approach still requires a fair amount of a priori knowlthe direct adaptive command shaping methods in the time domain edge about the system parameters for proper design. The second are compared, especially in terms of the noise effect on the per- approach is to make the command shaper adapt to uncertain formance. Analysis shows that the direct approach is less sensitive . to the noise and this analytic result is verified by the proper simu- or varying system parameters. The indirect adaptive command lation. Finally, experimental results using the direct approach are shaping method has focused on the system identification either included. in the frequency domain [3], [14] or in the time domain [2], [8].
Description: ©2001 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works DOI: 10.1109/87.896749
Type: Article
URI: http://hdl.handle.net/1853/39033
ISSN: 1063-6536
Citation: Sungsoo Rhim and Wayne J. Book, “Noise Effect on Adaptive Command Shaping Methods for Flexible Manipulator Control,” IEEE Transactions on Control Systems Technology, Vol. 9, No. I (January 2001) 84-92.
Date: 2001-01
Contributor: Georgia Institute of Technology. School of Mechanical Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Adaptive command shaping
Flexible manipulators
Noise
Vibration reduction

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