A discrete-time approach to impulse-based adaptive input shaping for motion control without residual vibration

Matthew O. T. Cole

Research output: Contribution to journalArticle

19 Citations (Scopus)

Abstract

Modifying a command or actuation signal by convolving it with a sequence of impulses is a useful technique for eliminating structural vibration in rest-to-rest motion of mechanical systems. This paper describes an adaptive discrete-time version of this approach where amplitude and timing of impulses are tuned during operation to match the system under control. Solutions giving zero residual vibration are formulated in terms of a quadratic cost function and constructed by iterative operations on measured sets of inputoutput data. The versatility of the approach is demonstrated by simulated test cases involving (1) amplitude optimization of impulses with fixed timings, (2) timing optimization of impulses with fixed amplitudes and (3) combined timing and amplitude optimization. The approach is model-free and directly applicable to multi-mode systems. Moreover, fast adaptation within a single rest-to-rest maneuver can be achieved.
Original languageEnglish
Pages (from-to)2504-2510
JournalAutomatica
Volume47
Issue number11
DOIs
Publication statusPublished - 1 Nov 2011

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