Delay-based input shapers in feedback interconnections
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00184721" target="_blank" >RIV/68407700:21230/11:00184721 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Delay-based input shapers in feedback interconnections
Original language description
A design method for a feedback controller with integrated delay-based command shaper is presented in this paper, based on the Smith predictor concept. PosiCast and related input command shapers (ZV, ZVD, EI etc.) are primarily intended as feedforward filters for reference (set point) signals. Nevertheless, due to their superior effectiveness in suppressing vibrations, there is a good motivation to incorporate them directly into positioning feedback loops for flexible structures. Compared to a purely feedforward setup, the feedback control system is commanded not to excite flexible vibrations by aggressive response of the controller, designed purely for the rigid body dynamics, to unmeasurable disturbances, not only to known reference command. If the shaper is tuned carefully to the flexible mode(-s) of interest, the overall feedback appears fast and responsive compared to the conventional approach of a simple high-frequency-roll-off compensator.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2011
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 18th IFAC World Congress, 2011
ISBN
978-3-902661-93-7
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
7577-7582
Publisher name
IFAC
Place of publication
Bologna
Event location
Milano
Event date
Aug 28, 2011
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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