Learning Input Shaping Control with Parameter Estimation for Nonlinear Actuators

비선형 구동기의 변수추정을 통한 학습입력성형제어기

  • 김득현 (조선대학교 기계공학과) ;
  • 성윤경 (조선대학교 기계공학과) ;
  • 장완식 (조선대학교 기계공학과)
  • Received : 2011.04.27
  • Accepted : 2011.08.31
  • Published : 2011.11.01


This paper proposes a learning input shaper with nonlinear actuator dynamics to reduce the residual vibration of flexible systems. The controller is composed of an estimator of the time constant of the nonlinear actuator dynamics, a recursive least squares method, and an iterative updating algorithm. The updating mechanism is modified by introducing a vibration measurement function to cope with the dynamics of nonlinear actuators. The controller is numerically evaluated with respect to parameter convergence and control performance by using a benchmark pendulum system. The feasibility and applicability of the controller are demonstrated by comparing its control performance to that of an existing controller algorithm.


  1. Singer, N. C. and Seering, W. P, 1990, "Preshaping Command Inputs of Reduce System Vibration," J. of Dynamic Systems, Measurement, and Control, Vol. 112, No.1, pp. 76-82
  2. Sung Y.-G. and Singhose W., 2009, "Robustness Analysis of Input Shaping Commands for Two-Mode Flexible Systems," IET. Control, Theory and Applications, Vol. 3, No. 6, pp.722-730.
  3. Singh, T, 2002, "Minimax Design of Robust Controllers for Flexible Systems," J. of Guidance, Control, and Dynamics, Vol. 25, No. 5, pp.868-875
  4. Lawrence, J., Singhose, W. and Hekman, K., 2008, "Command Shaping Under Nonsysmetrical Acceleration and Braking Dynamic," J. of Vibration and Acoustics, Vol. 130, No. 5, 054504
  5. Stergiopoulos, J. and Tzes, A., 2009, "Adaptive Input Shaping for Nonlinear Systems: A Case Study," J. of Dynamic Systems, Measurement, and Control, Vol. 129, No. 2, pp. 219-223
  6. Park, J. and Chang, P.-H., 2001,'"Learning Input Shaping Techniqe for Non-LTI System," J. of Dynamic Systems, Measurement, and Control, Vol. 123, No. 2, pp.288-293
  7. Cutforth, C. F. and Pao, L., 2004, "Adaptive Input Shaping for Maneuvering Flexible System Structures," Automatica, Vol. 40, pp. 685-693.
  8. Goodwin, G. C. and Sin, K. S., 1984, Adaptive Filtering Prediction and Control, Prentice-Hall.