DocumentCode
1493038
Title
Finite-State Input Shaping
Author
Sorensen, Khalid L. ; Hekman, Keith ; Singhose, William E.
Author_Institution
Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Volume
18
Issue
3
fYear
2010
fDate
5/1/2010 12:00:00 AM
Firstpage
664
Lastpage
672
Abstract
Input shaping is an effective method for suppressing motion-induced oscillation in flexible systems. This technique works well on systems with continuously-variable actuation. However, many systems only have a finite number of actuation states. For example, some relay-driven cranes have three actuation states: off, low-speed, and full speed. The discretizing effect of finite-state actuation can reduce the effectiveness of input shaping. This paper investigates the detrimental effects of discretization. The operational effects of finite-state input shaping are evaluated by using experimental results from a human-operated bridge crane, and a 3-D simulation of this crane.
Keywords
actuators; cranes; finite state machines; oscillations; continuously variable actuation; finite state actuation; finite state input shaping; human operated bridge crane; suppressing motion induced oscillation; Command shaping; discrete automata; finite actuation; hybrid system; input shaping; quantized control; vibration;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/TCST.2009.2027428
Filename
5280190
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