Abstract
In this study, symmetric perturbation extra-insensitive input shapers (SPEI-ISs) are proposed to enhance the robustness of the impulse-time perturbation approach, particularly toward the low-frequency range, with respect to the modeled natural frequency. These perturbation-based extra-insensitive input shapers (PEI-ISs) provide a wider range of robustness than the well-known robust input shapers, which include derivative input shapers (e.g., ZVD, ZVDD, and ZVDDD shapers) and extra-insensitive input shapers (EI-ISs). However, robustness may be lost, particularly at lower frequencies, as a result of asymmetric placement of the notch points on the sensitivity curve. To address this issue, an SPEI-IS is derived by placing the notch points symmetrically to enhance robustness, particularly in the low-frequency range. In single-, two-and three-hump cases, explicit solutions are presented to demonstrate the usability of the proposed shapers. The robustness and transient response are evaluated through simulation and experiment and are compared to the response of conventional robust input shapers. It is concluded that the proposed SPEI-IS improves robustness and transient response.
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Recommended by Associate Editor Jiuxiang Dong under the direction of Editor Yoshito Ohta.
Chang-Wan Ha received the B.S. degree in mechanical engineering from Handong Global University, Pohang, Korea, in 2008 and the M.S. and Ph.D. degrees in mechanical engineering from KAIST (Korea Advanced Institute of Science and Technology), Daejeon, Korea, in 2010 and 2014, respectively. Since 2014, he has been a senior researcher in KIMM (Korea Institute of Machinery and Materials). His research interest is the control of magnetic levitation systems and motion control including input shaping technique.
Dongwook Lee received the B.S. and M.S. degrees in mechanical engineering from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 2010 and 2014, respectively, where he is currently working toward the Ph.D. degree. His research interests include linear control theory, vehicle control, motion control, and input shaping.
Keun-Ho Rew received the B.S. and M.S. degrees in mechanical engineering and the Ph.D. degree in aerospace engineering from the Korea Advanced Institute of Science and Technology, Daejeon, in 1994, 1996, and 2001, respectively. He was a Senior Engineer with Mirae Industry Company, Ltd., Cheonan, Korea, from 2001 to 2003 and a Chief Engineer with Fine D&C Company, Ltd., from 2003 to 2005. In 2005, he joined the Department of Mechanical Engineering, Hoseo University, Asan, Korea, as a Faculty Member, where he has been with the Department of Robotics Engineering since 2007. His research interests include motion control, robotics, actuation mechanisms, and digital image processing for industrial and rehabilitation robots.
Kyung-Soo Kim received the B.S., M.S., and Ph.D. degrees in mechanical engineering from the Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Korea, in 1993, 1995, and 1999, respectively. He was a Chief Researcher with LG Electronics, Inc., from 1999 to 2003 and as a DVD Group Manager with STMicroelectronics Company, Ltd., from 2003 to 2005. In 2005, he joined the Department of Mechanical Engineering, Korea Polytechnic University, Seoul, Korea, as a Faculty Member. Since 2007, he has been with the Department of Mechanical Engineering, KAIST. He serves as an Associate Editor of Automatica and Journal of Mechanical Science and Technology. His research interests include digital system design for controlled mechatronics, sensor and actuator design, robot manipulator design, and control theories such as robust control and sliding mode control.
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Ha, CW., Lee, D., Rew, KH. et al. An Impulse-time Perturbation Approach for a Symmetric Extra-insensitive Input Shaper. Int. J. Control Autom. Syst. 16, 1239–1246 (2018). https://doi.org/10.1007/s12555-017-0045-y
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DOI: https://doi.org/10.1007/s12555-017-0045-y