DOI QR코드

DOI QR Code

Learning Input Shaping Control with Parameter Estimation for Nonlinear Actuators

비선형 구동기의 변수추정을 통한 학습입력성형제어기

  • Received : 2011.04.27
  • Accepted : 2011.08.31
  • Published : 2011.11.01

Abstract

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.

Keywords

Flexible System;Learning Input Shaping Control;Nonlinear Actuator;1st-Order System;Residual Deflection

References

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