Adaptive command shaping using adaptive filter approach in time domain

Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators. A properly designed command shaper cancels the resonance poles of the system regardless of the given reference input to the system. However, designing an effective command shaper requires a priori knowledge about the system parameters. Recently, some efforts have been made to make the command shaper less sensitive to the uncertainty of the system parameters and to make the command shaper adapt to the unknown system parameters. This research is an effort to develop an effective adaptive command-shaping algorithm in the time domain. In the paper, the authors propose an adaptive command-shaping algorithm using an adaptive filtering technique in the time domain and verify the effectiveness of the proposed algorithm with proper experiments