Robust Input Shaping Commands with First-Order Actuators

Area of Science:

• Control Systems Engineering
• Robotics
• Mechatronics

Background:

• Ideal input shaping commands can be degraded by actuator dynamics, negatively impacting oscillation reduction in feedforward control.
• First-order actuator dynamics present a challenge for conventional input shaping techniques.

Purpose of the Study:

• To develop robust input shaping commands that effectively account for first-order actuator dynamics.
• To enhance the performance of oscillation reduction in practical control applications.

Main Methods:

• Analytical proposal of a zero-vibration-derivative (ZVD_F) shaper using a phasor-vector approach and exponential approximation for first-order actuators.
• Application of an equivalent transformation based on the superposition principle to incorporate actuator dynamics.
• Numerical evaluation and experimental validation on a mini bridge crane.

Main Results:

• The proposed robust input shaping commands demonstrate superior robustness and residual deflection reduction compared to conventional ZVD shapers.
• Numerical and experimental results confirm the effectiveness of the method in mitigating oscillations caused by actuator dynamics.
• Validation on a mini bridge crane shows improved performance in practical scenarios.

Conclusions:

• The developed robust input shaping commands effectively address the limitations imposed by first-order actuator dynamics.
• This approach offers a practical solution for enhancing the performance of oscillation reduction in feedforward control systems.
• The validated method provides a significant advancement in input shaping technology for flexible systems.