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Recent Results on Time-Delay Systems pp 229–248Cite as

Design, Analysis and Implementation of Smoothed Input Shapers with Distributed Delay s

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Part of the book series: Advances in Delays and Dynamics ((ADVSDD,volume 5))

Abstract

Zero vibration input shapers with distributed delay s are considered with the objective to compensate the undesirable oscillator y modes of the system under consideration. Next to the lumped delay, which has been used in the input shapers so far, equally and triangularly distributed delay s are considered as the key elements in the shaper design. These delays provide signal smoothing of the Trapezoidal and S-curve like smoothers, whereas the full compensation of the undesirably oscillator y mode is guaranteed for the nominal case. For the parametrization purposes, the spectral theory of time delay systems is applied with the aid of numerical tools for computation of rightmost part of the infinite spectra of the shaper zeros. Next, the robustness and implementation issues of the shapers are discussed. In the analysis performed, the novel shapers show better spectral, step response and robustness features compared to the classical ZV shaper. An experimental example is included to demonstrate the performance of the novel shapers.

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Notes

  1. 1.

    http://www.cak.fs.cvut.cz/algorithms/shapers.

  2. 2.

    www.quanser.com.

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Acknowledgments

The presented research has been supported by the Czech Science Foundation under the project No. 13-06962S.

Author information

Authors and Affiliations

  1. Department of Instrumentation and Control Engineering, Faculty of Mechanical Engineering, Czech Technical University in Prague, Prague, Czech Republic

    Tomáš Vyhlídal & Vladimír Kučera

  2. Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, Prague, Czech Republic

    Martin Hromčík

Authors
  1. Tomáš Vyhlídal
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  2. Vladimír Kučera
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  3. Martin Hromčík
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Corresponding author

Correspondence to Tomáš Vyhlídal .

Editor information

Editors and Affiliations

  1. GIPSA-lab, University Grenoble Alpes - CNRS, Saint Martin d’Hères – Cedex, France

    Emmanuel Witrant

  2. School of Electrical Engineering, Tel Aviv University, Tel Aviv, Israel

    Emilia Fridman

  3. GIPSA-lab, University Grenoble Alpes - CNRS, Saint Martin d'Heres Cedex, France

    Olivier Sename

  4. GIPSA-lab, University Grenoble Alpes - CNRS, Grenoble, France

    Luc Dugard

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Vyhlídal, T., Kučera, V., Hromčík, M. (2016). Design, Analysis and Implementation of Smoothed Input Shapers with Distributed Delay s. In: Witrant, E., Fridman, E., Sename, O., Dugard, L. (eds) Recent Results on Time-Delay Systems. Advances in Delays and Dynamics, vol 5. Springer, Cham. https://doi.org/10.1007/978-3-319-26369-4_12

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  • DOI: https://doi.org/10.1007/978-3-319-26369-4_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-26367-0

  • Online ISBN: 978-3-319-26369-4

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