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Input shaping via FIR L2 preview tracking

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
0743-1546
5513-5518
Institute of Electrical and Electronics Engineers Inc.
Bucher, Izhak
53f51e1b-46cb-45f6-b812-14cc3a0be938
Mirkin, Leonid
b3f20ed4-59fd-4c44-930a-deec813ba65d
Vered, Yoav
c13938de-457b-4e25-b57b-7471c7bc832a
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, Institute of Electrical and Electronics Engineers Inc. pp. 5513-5518 . (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
ORCID for Yoav Vered: ORCID iD orcid.org/0000-0002-5270-5075

Catalogue record

Date deposited: 24 May 2022 17:02
Last modified: 25 May 2022 01:58

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Contributors

Author: Izhak Bucher
Author: Leonid Mirkin
Author: Yoav Vered ORCID iD

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