##
**A class of low-pass FIR input shaping filters achieving exact residual vibration cancelation.**
*(English)*
Zbl 1257.93040

Summary: This paper describes the construction of low-pass FIR filters for application as command input shapers in motion control systems. The filters are designed to operate on an arbitrary command input signal to ensure a finite settling time for system modes with known natural frequency and damping ratio. In addition, the required roll-off rate of the filter frequency response may be prescribed in the design. Excitation of unmodeled high-frequency modes can thereby be reduced. The filters also produce an input-smoothing effect that is useful in situations where discontinuities in the input signal or its derivatives would be detrimental to system performance or function. Numerical case studies are presented to clarify these effects.

### MSC:

93B51 | Design techniques (robust design, computer-aided design, etc.) |

70Q05 | Control of mechanical systems |

93C85 | Automated systems (robots, etc.) in control theory |

### Keywords:

input shaping; motion control; flexible structure vibration; robot manipulator; feedforward control
Full Text:
DOI

### References:

[1] | Baumgart, M.D.; Pao, L.Y., Discrete time-optimal command shaping, Automatica, 43, 1403-1409, (2007) · Zbl 1130.93376 |

[2] | Cole, M.O.T.; Wongratanaphisan, T., Optimal FIR input shaper designs for motion control with zero residual vibration, Transactions of the ASME, journal of dynamic systems, measurement, and control, 133, (2011), art. no. 021008 |

[3] | Economou, D.; Mavroidis, C.; Antoniadis, I.; Lee, C., Maximally robust input preconditioning for residual vibration suppression using low-pass FIR digital filters, Transactions of the ASME, journal of dynamic systems, measurement, and control, 124, 1, 88-102, (2002) |

[4] | Khorrami, F.; Jain, S.; Tzes, A., Experiments on rigid-body based controllers with input preshaping for a two-link flexible manipulator, IEEE transactions on robotics and automation, 10, 1, 55-65, (1994) |

[5] | Mohamed, Z.; Martin, J.M.; Tokhi, M.O.; Sa da Costa, J.; Botto, M.A., Vibration control of a very flexible manipulator system, Control engineering practice, 13, 267-276, (2005) |

[6] | Singer, N.C.; Seering, W.P., Preshaping command inputs to reduce system vibration, Transactions of the ASME, journal of dynamic systems, measurement, and control, 112, 76-82, (1990) |

[7] | Singhose, W.; Seering, W.; Singer, N., Residual vibration reduction using vector diagrams to generate shaped inputs, Transactions of the ASME, journal of dynamic systems, measurement, and control, 116, 654-659, (1994) |

This reference list is based on information provided by the publisher or from digital mathematics libraries. Its items are heuristically matched to zbMATH identifiers and may contain data conversion errors. It attempts to reflect the references listed in the original paper as accurately as possible without claiming the completeness or perfect precision of the matching.