Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Extraction of Optimal Time-Delay in Adaptive Command Shaping Filter for Flexible Manipulator Control

유연한 매니퓰레이터 제어를 위한 적응형 명령성형 필터의 최적 시간지연 값 추출

  • Published : 2008.06.01
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Abstract

The performance of the direct adaptive time-delay command shaping filter depends on the select time-delay. In the previously introduced direct adaptive command shaping filter, however, the time-delay value is fixed and only the magnitudes of the impulses are learned. In this paper, the authors introduce a new scheme to adapt the time-delay which is to be used in conjunction with the direct adaptive command shaping for the improved vibration suppression in flexible motion system. In order to formulate the time-delay adaptation scheme, the authors have analyzed the effect of the time-delay value on the performance of the direct adaptive command shaping filter. By modifying the direct adaptation formula based on the analysis result the authors have established a set of equations to adapt the time-delay toward the optimal value. Simulation results show the effectiveness of the proposed time-delay adaptation approach for the improved vibration suppression.

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References

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Cited by

  1. Command shaping for flexible systems: A review of the first 50 years vol.10, pp.4, 2009, https://doi.org/10.1007/s12541-009-0084-2
  2. Experiments of optimal delay extraction algorithm using adaptive time-delay filter for improved vibration suppression vol.23, pp.4, 2009, https://doi.org/10.1007/s12206-009-0328-1