Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain

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Title: Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain
Author: Rhim, Sungsoo ; Book, Wayne John
Abstract: Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators. A properly designed command shaper cancels the resonance poles of the system regardless of the given reference input to the system. However, designing an effective command shaper requires a priori knowledge about the system parameters. Recently, some efforts have been made to make the command shaper less sensitive to the uncertainty of the system parameters and to make the command shaper adapt to the unknown system parameters. This research is an effort to develop an effective adaptive command-shaping algorithm in the time domain. In the paper, the authors propose an adaptive command-shaping algorithm using an adaptive filtering technique in the time domain and verify the effectiveness of the proposed algorithm with proper experiments.
Description: ©1999 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. Presented at the 1999 American Control Conference, June 2-4, 1999, San Diego, California. DOI: 10.1109/ACC.1999.782744  
Type: Proceedings
ISSN: 0743-1619
ISBN: 0-7803-4990-3
Citation: Rhim, Sungsoo and Wayne J. Book, “Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain,” Proceedings, 1999 American Control Conference, San Diego, CA, June 1999, 81-85.
Date: 1999-06
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
Filtering algorithms
Command shaper
Flexible manipulators

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