Input shaping is an effective method for reducing oscillatory motion in linear systems. Many physical systems, however, exhibit discontinuous dynamics, such as saturation, rate limiting, backlash, and dead-zone. These hard nonlinearities can degrade the vibration reducing properties of shaped signals. This paper investigates the detrimental effects of dead-zone on a class of input-shaped commands. A mitigation strategy is proposed for reducing these detrimental effects when the value of the dead-zone can be estimated. The robustness of this mitigation approach to uncertainties in the dead-zone width is also determined. Theoretical developments are experimentally verified using an industrial 10 ton bridge crane.
Vibration Analysis and Mitigation of Dead-Zone on Systems Using Two-Impulse Zero-Vibration Input Shaping
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Sorensen, K. L., Cross, P. W., Singhose, W. E., and Prakash, S. (October 5, 2010). "Vibration Analysis and Mitigation of Dead-Zone on Systems Using Two-Impulse Zero-Vibration Input Shaping." ASME. J. Comput. Nonlinear Dynam. January 2011; 6(1): 011011. https://doi.org/10.1115/1.4001818
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