Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

Design of proportional–derivative feedback and input shaping for control of inertia plants

Design of proportional–derivative feedback and input shaping for control of inertia plants

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Add to cart
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)
Add to cart

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

© The Institution of Engineering and Technology
Published

Closed-loop feedback control and command shaping are often used together to achieve superior control performance. In many cases, the feedback control is designed and implemented first. Then, the command shaping is designed to improve the resulting closed-loop dynamics. However, there is an often-overlooked advantage of optimally combining these two control schemes. This study will show that proportional and derivative feedback control can be intelligently used to create a closed-loop system that is particularly advantageous when input shaping is used as a filter outside of the loop. Experimental results are shown to verify the theoretical developments.

Inspec keywords: closed loop systems; optimal control; PD control; feedback; intelligent control

Other keywords: proportional-derivative feedback design; closed-loop feedback control scheme; command shaping; closed-loop system; closed-loop dynamics; inertia plant control performance

Subjects: Optimal control

References

    1. 1)
    2. 2)
    3. 3)
      • K. Ogata . (1998) System dynamics.
    4. 4)
      • Lawrence, J., Singhose, W., Hekman, K.: `An analytical solution for a zero vibration input shaper for systems with coulomb friction', American Control Conf., 2002, Anchorage, AK.
    5. 5)
    6. 6)
      • Gopalakrishnan, J., Reddy, K.V., Singh, T.: `Concurrent feedback/feedforward design for second order systems', AIAA Guidance, Navigation, and Control Conf. and Exhibition, 2005, San Francisco, CA.
    7. 7)
    8. 8)
    9. 9)
      • Muenchhof, M., Singh, T.: `Concurrent feed-forward/feed-back design for flexible structures', AIAA Guidance, Navigation and Control Conf., 2002, Monterey, Ca.
    10. 10)
    11. 11)
    12. 12)
      • A. Banerjee . Dynamics and control of the WISP shuttle-antennae system. J. Astronaut. Sci. , 1 , 73 - 90
    13. 13)
    14. 14)
      • Seth, N., Rattan, K., Brandstetter, R.: `Vibration control of a coordinate measuring machine', IEEE Conf. Control Applications, 1992, Dayton, OH, p. 368–373.
    15. 15)
      • Magee, D.P., Cannon, D.W., Book, W.J.: `Combined command shaping and inertial damping for flexure control', American Control Conf., 1997, Albuquerque, NM, p. 1330–1334.
    16. 16)
      • Chang, P.H., Park, J.: `Use of input shaping technique with a robust feedback control and its application to the position control of surface mount machine', IEEE Int. Conf. Control Applications, 1996, Dearborn, MI, p. 397–402.
    17. 17)
    18. 18)
    19. 19)
    20. 20)
      • Kwon, D.-S., Hwang, D.-H., Babcock, S.M., Burks, B.L.: `Input shaping filter methods for the control of structurally flexible, long-reach manipulators', IEEE Conf. Robotics and Automation, 1994, San Diego, CA, 4, p. 3259–3264.
    21. 21)
    22. 22)
    23. 23)
      • Yano, K., Toda, T., Terashima, K.: `Sloshing suppression control of automatic pouring robot by hybrid shape approach', 40thIEEE Conf. Decision and Control, 2001, 2, p. 1328–1333.
    24. 24)
    25. 25)
      • Pridgen, B., Bai, K., Singhose, W.: `Slosh suppression by robust input shaping', IEEE Conf. Decision and Control, 2010, Atlanta, GA.
    26. 26)
    27. 27)
    28. 28)
    29. 29)
    30. 30)
      • Agostini, M.J., Parker, G.G., Groom, K., Schaub, H., Robinett, R.D.: `Command shaping and closed-loop control interactions for a ship crane', American Controls Conf., 2002.
    31. 31)
    32. 32)
    33. 33)
    34. 34)
    35. 35)
      • Lewis, D., Parker, G.G., Driessen, B., Robinett, R.D.: `Comparison of command shaping controllers for suppressing payload sway in a rotary boom crane', IEEE Int. Conf. Control Applications, 1999, Kohala Coast-Island of Hawaii, Hawaii, p. 719–724.
    36. 36)
      • Singhose, W., Seering, W., Singer, N.: `Input shaping for vibration reduction with specified insensitivity to modeling errors', Japan–USA Symp. Flexible Automation, 1996, Boston, MA, 1, p. 307–313.
    37. 37)
    38. 38)
    39. 39)
      • J. Van De Vegte . (1986) Feedback control systems.
    40. 40)
      • Banerjee, A., Pedreiro, N., Gonzalez, M.: `Simultaneous optimization of input shaping and feedback control for slewing flexible spacecraft', American Control Conf., 2003, Denver, CO, p. 4796–4798.
    41. 41)
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2010.0456
Loading

Related content

content/journals/10.1049/iet-cta.2010.0456
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
Print this page
This is a required field
Please enter a valid email address