Frequency weighted H2 optimization of multi-mode input shaper

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F20%3A43959679" target="_blank" >RIV/49777513:23520/20:43959679 - isvavai.cz</a>

Nalezeny alternativní kódy

RIV/68407700:21220/20:00342421

Výsledek na webu

<a href="https://doi.org/10.1016/j.automatica.2020.109202" target="_blank" >https://doi.org/10.1016/j.automatica.2020.109202</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1016/j.automatica.2020.109202" target="_blank" >10.1016/j.automatica.2020.109202</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Frequency weighted H2 optimization of multi-mode input shaper

Popis výsledku v původním jazyce

An optimization-based design of a robust multi-mode input shaper is presented with an embedded weighting of the frequency response. By prefixing the delay length in the shaper, the optimization design task is formulated as a standard quadratic programming problem. The shaper robustness in terms of zeroed or upper-bounded residual vibration function for the modes to be precompensated is imposed via the equality and inequality constraints. As the main result, an additional degree of freedom in the shaper design is introduced via parametrization of the quadratic form cost matrix and utilized to modulate the amplitude frequency response over a given frequency range. In particular, this allows to embed the high-frequency roll-off to the shaper and improve its insensitivity to modelling errors by adjusting its stop-band response. The proposed shaper design is demonstrated and experimentally validated on a problem of positioning a flexible manipulator arm with multiple oscillatory modes.

Název v anglickém jazyce

Frequency weighted H2 optimization of multi-mode input shaper

Popis výsledku anglicky

An optimization-based design of a robust multi-mode input shaper is presented with an embedded weighting of the frequency response. By prefixing the delay length in the shaper, the optimization design task is formulated as a standard quadratic programming problem. The shaper robustness in terms of zeroed or upper-bounded residual vibration function for the modes to be precompensated is imposed via the equality and inequality constraints. As the main result, an additional degree of freedom in the shaper design is introduced via parametrization of the quadratic form cost matrix and utilized to modulate the amplitude frequency response over a given frequency range. In particular, this allows to embed the high-frequency roll-off to the shaper and improve its insensitivity to modelling errors by adjusting its stop-band response. The proposed shaper design is demonstrated and experimentally validated on a problem of positioning a flexible manipulator arm with multiple oscillatory modes.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

AUTOMATICA

ISSN

0005-1098

e-ISSN

—

Svazek periodika

121

Číslo periodika v rámci svazku

Listopad 2020

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

7

Strana od-do

1-7

Kód UT WoS článku

000571445600019

EID výsledku v databázi Scopus

2-s2.0-85089514596