This paper describes the design of closed-loop control laws for servomechanisms with one dominant flexible mode. An input shaping technique is employed to alter the rigid body phase-plane trajectory that is used in time-optimal servomechanisms. The resulting controllers lead to near time-optimal performance without unwanted residual vibrations. After the basic technique is outlined for a system with one undamped flexible mode, extensions are given considering different acceleration and deceleration capabilities, damping, and slew rate limits.
Shaped Time-Optimal Feedback Controllers for Flexible Structures
Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division August 29, 2002; final revision, July 8, 2003. Associate Editor: Rahn.
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Pao , L. Y., and La-orpacharapan, C. (April 12, 2004). "Shaped Time-Optimal Feedback Controllers for Flexible Structures ." ASME. J. Dyn. Sys., Meas., Control. March 2004; 126(1): 173–186. https://doi.org/10.1115/1.1637639
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