A direct method of adaptive FIR input shaping for motion control with zero residual vibration

In this paper, we describe a method of adaptive feedforward control that can achieve zero residual vibration in rest-to-rest motion of a vibratory system. When a finite impulse response filter is used to preshape a command input, zero residual vibration is achieved for any input signal if the impuls...

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Main Authors: Matthew O T Cole, Theeraphong Wongratanaphisan
Format: Journal
Published: 2018
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http://cmuir.cmu.ac.th/jspui/handle/6653943832/52456
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Institution: Chiang Mai University
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spelling th-cmuir.6653943832-524562018-09-04T09:27:23Z A direct method of adaptive FIR input shaping for motion control with zero residual vibration Matthew O T Cole Theeraphong Wongratanaphisan Computer Science Engineering In this paper, we describe a method of adaptive feedforward control that can achieve zero residual vibration in rest-to-rest motion of a vibratory system. When a finite impulse response filter is used to preshape a command input, zero residual vibration is achieved for any input signal if the impulse response of the filter satisfies a condition of orthogonality with respect to the impulse response of the system under control. An equivalent condition involving sets of measured I/O data is derived that forms the basis of a direct method of adaptively tuning filter coefficients during motion. The approach requires no prior model of the system and can be applied to multimode and multiinput systems under arbitrary and nonrepetitive motions. Versions of the algorithm employing recursive least-squares techniques are developed and analyzed. As a special case of the general adaptation problem, tuning of impulse-based shapers with fixed impulse timings can also be achieved. An experimental implementation on a two-link rigid-flexible manipulator is presented. The method is thereby shown to be realizable and effective for real-world motion control problems. © 1996-2012 IEEE. 2018-09-04T09:25:30Z 2018-09-04T09:25:30Z 2013-01-01 Journal 10834435 2-s2.0-84866497728 10.1109/TMECH.2011.2174373 https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84866497728&origin=inward http://cmuir.cmu.ac.th/jspui/handle/6653943832/52456
institution Chiang Mai University
building Chiang Mai University Library
country Thailand
collection CMU Intellectual Repository
topic Computer Science
Engineering
spellingShingle Computer Science
Engineering
Matthew O T Cole
Theeraphong Wongratanaphisan
A direct method of adaptive FIR input shaping for motion control with zero residual vibration
description In this paper, we describe a method of adaptive feedforward control that can achieve zero residual vibration in rest-to-rest motion of a vibratory system. When a finite impulse response filter is used to preshape a command input, zero residual vibration is achieved for any input signal if the impulse response of the filter satisfies a condition of orthogonality with respect to the impulse response of the system under control. An equivalent condition involving sets of measured I/O data is derived that forms the basis of a direct method of adaptively tuning filter coefficients during motion. The approach requires no prior model of the system and can be applied to multimode and multiinput systems under arbitrary and nonrepetitive motions. Versions of the algorithm employing recursive least-squares techniques are developed and analyzed. As a special case of the general adaptation problem, tuning of impulse-based shapers with fixed impulse timings can also be achieved. An experimental implementation on a two-link rigid-flexible manipulator is presented. The method is thereby shown to be realizable and effective for real-world motion control problems. © 1996-2012 IEEE.
format Journal
author Matthew O T Cole
Theeraphong Wongratanaphisan
author_facet Matthew O T Cole
Theeraphong Wongratanaphisan
author_sort Matthew O T Cole
title A direct method of adaptive FIR input shaping for motion control with zero residual vibration
title_short A direct method of adaptive FIR input shaping for motion control with zero residual vibration
title_full A direct method of adaptive FIR input shaping for motion control with zero residual vibration
title_fullStr A direct method of adaptive FIR input shaping for motion control with zero residual vibration
title_full_unstemmed A direct method of adaptive FIR input shaping for motion control with zero residual vibration
title_sort direct method of adaptive fir input shaping for motion control with zero residual vibration
publishDate 2018
url https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84866497728&origin=inward
http://cmuir.cmu.ac.th/jspui/handle/6653943832/52456
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