Adaptation of generalized time-delay command shaper for flexible manipulator control

Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators and the effectiveness in the vibration suppression has been verified. However designing an effective command shaper requires a priori knowledge about the system parameters. Previously, some efforts have been made to make the command shaper adaptive to the changes in the system parameters. In this paper we introduce the generalized time-delay command shaper and analyze its characteristics. Also we show that previously proposed command shapers are particular cases of the generalized command shaper. Then, direct adaptation of the generalized command shaper is studied. Finally, the experimental results of the adaptation are included to show the effectiveness of the direct approach using the generalized command shaper and to support the analysis result