Title: | Frequency weighted H2 optimization of multi-mode input shaper |
Authors: | Goubej, Martin Vyhlídal, Tomáš Schlegel, Miloš |
Citation: | GOUBEJ, M., VYHLÍDAL, T., SCHLEGEL, M. Frequency weighted H2 optimization of multi-mode input shaper. Automatica, 2020, roč. 121, č. Listopad 2020, s. 1-7. ISSN 0005-1098. |
Issue Date: | 2020 |
Publisher: | Elsevier |
Document type: | článek preprint article preprint |
URI: | 2-s2.0-85089514596 http://hdl.handle.net/11025/42768 |
ISSN: | 0005-1098 |
Keywords in different language: | Input shaping;multiple modes;time delay;H2 optimal design |
Abstract in different language: | An optimization-based design of a robust multi-mode input shaper is presented with an embedded weighting of the frequency response. By prefixing the delay length in the shaper, the optimization design task is formulated as a standard quadratic programming problem. The shaper robustness in terms of zeroed or upper-bounded residual vibration function for the modes to be precompensated is imposed via the equality and inequality constraints. As the main result, an additional degree of freedom in the shaper design is introduced via parametrization of the quadratic form cost matrix and utilized to modulate the amplitude frequency response over a given frequency range. In particular, this allows to embed the high-frequency roll-off to the shaper and improve its insensitivity to modelling errors by adjusting its stop-band response. The proposed shaper design is demonstrated and experimentally validated on a problem of positioning a flexible manipulator arm with multiple oscillatory modes. |
Rights: | Plný text není přístupný. © Elsevier |
Appears in Collections: | Preprinty / Preprints (KKY) Články / Articles (KKY) Preprinty / Preprints (NTIS) Články / Articles (NTIS) OBD |
Files in This Item:
File | Description | Size | Format | |
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preprint_H2shaping_rev01.pdf | 7,2 MB | Adobe PDF | View/Open | |
1-s2.0-S0005109820304003-main.pdf | 1,08 MB | Adobe PDF | View/Open Request a copy |
Please use this identifier to cite or link to this item:
http://hdl.handle.net/11025/42768
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