Distributed-delay input shaper with Bernstein polynomial kernel function
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21220%2F24%3A00377594" target="_blank" >RIV/68407700:21220/24:00377594 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1016/j.automatica.2024.111720" target="_blank" >https://doi.org/10.1016/j.automatica.2024.111720</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.automatica.2024.111720" target="_blank" >10.1016/j.automatica.2024.111720</a>
Alternative languages
Result language
angličtina
Original language name
Distributed-delay input shaper with Bernstein polynomial kernel function
Original language description
The focus of this paper is on the design of distributed delay multi-mode input shapers which emphasize smooth transients and reveal a favorable placement of the shaper zeros. The shaper is linearly parameterized using Bernstein polynomials as the kernel functions. The nonnegative magnitude of the Bernstein polynomials over the support of the shaper allows the formulation of convex constraints to design the shaper parameters, whereby the jerk constraints can be easily accommodated. The asymptotic properties of the infinite chain of zeros of the shaper are prescribed by using linear constraints. Including the shaper structure and robustness constraints, the design reduces to solving a feasibility problem. The shaper design and its performance are demonstrated, both numerically and experimentally, on a model of a helicopter with a suspended load featuring two flexible modes to be compensated for.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20205 - Automation and control systems
Result continuities
Project
<a href="/en/project/GA21-03689S" target="_blank" >GA21-03689S: Novel concepts for analysis and design of nonlinear controllers and compensators of flexible and chained mechanical systems</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Automatica
ISSN
0005-1098
e-ISSN
1873-2836
Volume of the periodical
166
Issue of the periodical within the volume
111720
Country of publishing house
GB - UNITED KINGDOM
Number of pages
7
Pages from-to
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UT code for WoS article
001247584100001
EID of the result in the Scopus database
2-s2.0-85193986472