TY - GEN
T1 - Convolution-Based Input Shaping for Finite-Time Settling in Non-LTI Systems
T2 - 3rd IEEE Conference on Control Technology and Applications, CCTA 2019
AU - Cole, Matthew O.T.
AU - Kuresangsai, Pongsiri
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - This paper gives the formulation of a parameter-dependent input shaping filter suitable for residual vibration reduction in motion control of non-LTI systems. The method is based on the assumption that the vibratory dynamics can be represented by a second order linear ODE with time-varying coefficients that can be estimated during motion. The control implementation involves a time-varying filter function that is convolved with the system command/actuation signal in real-time. Discrete-time implementation and performance aspects are studied by numerical simulation. Numerical results for a benchmark mechanical system are presented that reveal limitations due to non-linear dynamics impacting on the accuracy of the LTV assumption. Results from implementation on a flexure-jointed X-Y motion stage mechanism are shown that confirm the applicability and effectiveness of the method in achieving reduced vibration and settling time for step-wise motion tasks.
AB - This paper gives the formulation of a parameter-dependent input shaping filter suitable for residual vibration reduction in motion control of non-LTI systems. The method is based on the assumption that the vibratory dynamics can be represented by a second order linear ODE with time-varying coefficients that can be estimated during motion. The control implementation involves a time-varying filter function that is convolved with the system command/actuation signal in real-time. Discrete-time implementation and performance aspects are studied by numerical simulation. Numerical results for a benchmark mechanical system are presented that reveal limitations due to non-linear dynamics impacting on the accuracy of the LTV assumption. Results from implementation on a flexure-jointed X-Y motion stage mechanism are shown that confirm the applicability and effectiveness of the method in achieving reduced vibration and settling time for step-wise motion tasks.
UR - https://www.scopus.com/pages/publications/85077787103
U2 - 10.1109/CCTA.2019.8920676
DO - 10.1109/CCTA.2019.8920676
M3 - Conference proceeding
AN - SCOPUS:85077787103
T3 - CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications
SP - 964
EP - 969
BT - CCTA 2019 - 3rd IEEE Conference on Control Technology and Applications
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 19 August 2019 through 21 August 2019
ER -