Embedded optimization for input shaping / Lieboud Van den Broeck in IEEE Transactions on control systems technology, Vol. 18 N° 5 (Septembre 2010)  

Public ISBD [article]  inIEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1146-1154 Titre : Embedded optimization for input shaping Type de document : texte imprimé Auteurs : Lieboud Van den Broeck, Auteur ; Moritz Diehl, Auteur ; Swevers, Jan, Auteur Année de publication : 2011 Article en page(s) : pp. 1146-1154 Note générale : Génie Aérospatial Langues : Anglais (eng) Mots-clés : Mechanical systems Mechatronics Motion control Predictive Time optimal Vibration Index. décimale : 629.1 Résumé : Traditional input shaping filters are linear mappings between reference input and system input. These filters are often unnecessarily conservative with respect to input and output bounds if multiple references with different amplitudes are applied. This conservatism is due to its offline design and linear mapping. This paper presents an online input prefilter design approach to overcome this conservatism. The resulting prefilters are called predictive prefilters because the online design is based on the model predictive control (MPC) framework. By theoretical considerations, simulation results and experimental results, it is shown that this new prefilter is at least as good as traditional prefilters, and can result in substantial gains in settling time. Tests show that a 30% decrease in settling time is possible in a common input shaping application. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282519 [article] Embedded optimization for input shaping [texte imprimé] / Lieboud Van den Broeck, Auteur ; Moritz Diehl, Auteur ; Swevers, Jan, Auteur . - 2011 . - pp. 1146-1154. Génie Aérospatial Langues : Anglais (eng) in IEEE Transactions on control systems technology > Vol. 18 N° 5 (Septembre 2010) . - pp. 1146-1154 Mots-clés : Mechanical systems Mechatronics Motion control Predictive Time optimal Vibration Index. décimale : 629.1 Résumé : Traditional input shaping filters are linear mappings between reference input and system input. These filters are often unnecessarily conservative with respect to input and output bounds if multiple references with different amplitudes are applied. This conservatism is due to its offline design and linear mapping. This paper presents an online input prefilter design approach to overcome this conservatism. The resulting prefilters are called predictive prefilters because the online design is based on the model predictive control (MPC) framework. By theoretical considerations, simulation results and experimental results, it is shown that this new prefilter is at least as good as traditional prefilters, and can result in substantial gains in settling time. Tests show that a 30% decrease in settling time is possible in a common input shaping application. DEWEY : 629.1 ISSN : 1063-6536 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5282519

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