The input shaping technique has proven to be highly effective in reducing or eliminating residual vibration of flexible structures. The exact elimination of the residual vibration via input shaping depends on the amplitudes and instants of utilized impulses. However, systems always have parametric uncertainties, which can lead to performance degradation. Furthermore, input shaping method does not deal with vibration excited by external disturbances and time-delays. In this paper, a closed-loop input shaping control scheme is developed for uncertain flexible structure and uncertain time-delay flexible structure systems. The algorithm is based on the sliding mode control and techniques. This scheme guarantees closed-loop system stability, and yields good performance and robustness in the presence of parametric uncertainties, time-delays and external disturbances as well. Also, it is shown that increasing the robustness to parametric uncertainties and time-delays does not lengthen the duration of the impulse sequence. Numerical examples are presented to verify the theoretical analysis.
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e-mail: pmc@nkut.edu.tw
e-mail: axs22@psu.edu
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March 2011
Research Papers
Increasing Robustness of Input Shaping Method to Parametric Uncertainties and Time-Delays
M. C. Pai,
M. C. Pai
Department of Automation Engineering,
e-mail: pmc@nkut.edu.tw
Nan Kai University of Technology
, Tsa-Tun, Nantou, Taiwan 54210, R.O.C
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A. Sinha
A. Sinha
Department of Mechanical and Nuclear Engineering,
e-mail: axs22@psu.edu
Pennsylvania State University
, University Park, PA 16802
Search for other works by this author on:
M. C. Pai
Department of Automation Engineering,
Nan Kai University of Technology
, Tsa-Tun, Nantou, Taiwan 54210, R.O.Ce-mail: pmc@nkut.edu.tw
A. Sinha
Department of Mechanical and Nuclear Engineering,
Pennsylvania State University
, University Park, PA 16802e-mail: axs22@psu.edu
J. Dyn. Sys., Meas., Control. Mar 2011, 133(2): 021001 (8 pages)
Published Online: February 11, 2011
Article history
Received:
November 13, 2007
Revised:
July 30, 2010
Online:
February 11, 2011
Published:
February 11, 2011
Citation
Pai, M. C., and Sinha, A. (February 11, 2011). "Increasing Robustness of Input Shaping Method to Parametric Uncertainties and Time-Delays." ASME. J. Dyn. Sys., Meas., Control. March 2011; 133(2): 021001. https://doi.org/10.1115/1.4003090
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