Input shaping via FIR L2 preview tracking
Input shaping via FIR L2 preview tracking
This paper puts forward an approach to the synthesis of open-loop input shapers via the solution to a general L2 preview tracking problem with FIR constraints on the controller and the error system. This formulation results in a closed-form solution, which is numerically stable to calculate and easy to tune. The approach is experimentally validated on a four-mass laboratory testbed. It is shown to be advantageous to replace the control penalty in the cost with a penalty on the mechanical power of the system.
FIR systems, Input shaping, L2 optimization
5513-5518
Bucher, Izhak
53f51e1b-46cb-45f6-b812-14cc3a0be938
Mirkin, Leonid
b3f20ed4-59fd-4c44-930a-deec813ba65d
Vered, Yoav
c13938de-457b-4e25-b57b-7471c7bc832a
14 December 2020
Bucher, Izhak
53f51e1b-46cb-45f6-b812-14cc3a0be938
Mirkin, Leonid
b3f20ed4-59fd-4c44-930a-deec813ba65d
Vered, Yoav
c13938de-457b-4e25-b57b-7471c7bc832a
Bucher, Izhak, Mirkin, Leonid and Vered, Yoav
(2020)
Input shaping via FIR L2 preview tracking.
In 2020 59th IEEE Conference on Decision and Control, CDC 2020.
vol. 2020-December,
IEEE.
.
(doi:10.1109/CDC42340.2020.9304337).
Record type:
Conference or Workshop Item
(Paper)
Abstract
This paper puts forward an approach to the synthesis of open-loop input shapers via the solution to a general L2 preview tracking problem with FIR constraints on the controller and the error system. This formulation results in a closed-form solution, which is numerically stable to calculate and easy to tune. The approach is experimentally validated on a four-mass laboratory testbed. It is shown to be advantageous to replace the control penalty in the cost with a penalty on the mechanical power of the system.
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More information
Published date: 14 December 2020
Venue - Dates:
59th IEEE Conference on Decision and Control, CDC 2020, , Virtual, Jeju Island, Korea, Republic of, 2020-12-14 - 2020-12-18
Keywords:
FIR systems, Input shaping, L2 optimization
Identifiers
Local EPrints ID: 457143
URI: http://eprints.soton.ac.uk/id/eprint/457143
ISSN: 0743-1546
PURE UUID: 3679940a-9ce3-4fae-85ad-37c800a95b6a
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Date deposited: 24 May 2022 17:02
Last modified: 16 Mar 2024 17:19
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Contributors
Author:
Izhak Bucher
Author:
Leonid Mirkin
Author:
Yoav Vered
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