Proceedings of the Korean Society for Noise and Vibration Engineering Conference (한국소음진동공학회:학술대회논문집)
- 1997.04a
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- Pages.316-323
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- 1997
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- 1598-2548(pISSN)
Robust Input Shaping Controller for Slewing Uncertain Flexible Structures
모델 불확실성에 강인한 유연구조물의 입력설계
Abstract
This paper compares input shaping techniques for controlling residual vibration of flexible structures. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. Both feedforward and feedback control approaches with/without input shaper for uncertain dynamical systems are investigated to evaluate the control performances. The control objective is to achieve a fast settling time and robustness to plant uncertainty, to eliminate residual vibrations. It is shown by a series of simulation that a properly designed feedback controller with input shaper performs well, as compared with open-loop controller with input shaper.
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