Adaptive input shaping for manoeuvring flexible structures using an algebraic identification technique

• Published in: Automatica (Oxford) 2009-04, Vol.45 (4), p.1046-1051
• Main Authors: Pereira, E., Trapero, J.R., Díaz, I.M., Feliu, V.
• Format: Article
• Language: English
• Subjects: Adaptative systems; Adaptive control; Applied sciences; Computer science; control theory; systems; Control theory. Systems; Exact sciences and technology; Feedforward control; Flexible structure; Fundamental areas of phenomenology (including applications); Identification algorithm; Input shaping; Modelling and identification; Physics; Solid mechanics; Structural and continuum mechanics; Vibration, mechanical wave, dynamic stability (aeroelasticity, vibration control...)
• ISSN: 0005-1098; 1873-2836
• DOI: 10.1016/j.automatica.2008.11.014

Input shaping is an efficient feedforward control technique which has motivated a great number of contributions in recent years. Such a technique generates command signals with which manoeuvre flexible structures without exciting their vibration modes. This paper presents a novel adaptive input shaper based on an algebraic non-asymptotic identification. The main characteristic of the algebraic identification in comparison with other identification methods is the short time needed to obtain the system parameters without defining initial conditions. Thus, the proposed adaptive control can update the input shaper during each manoeuvre when large uncertainties are present. Simulations illustrate the performance of the proposed method.