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Since input shaping control is based on open-loop control technique, robustness to modeling error is crucial for successful application of it. The robustness of input shaping control has conventionally been evaluated from the ratio of residual vibration amplitude with input shaping to that without input shaping. However there has been no serious consideration on robustness measures of input shaping...
For a lightly damped flexible arm, an extra-insensitive (EI) shaper is an efficient logic to suppress the residual vibration of a flexible arm. Presently, the EI shaper is obtained approximately by a numerical solution on the assumption that damping ratio ζ and vibration tolerance Vtol are within some intervals. In this paper, we introduce a partially analytical EI shaper which is a closed form using...
The performance of input shaping control has been conventionally estimated by a sensitivity function V, but the numerical relationship between the sensitivity function V and maximum residual vibration has not been clear in a quantitative viewpoint. In this paper, we define clearly the sensitivity function in impulse response and step response graphically, and then present the relationship between...
Traditional suspension system of a railway vehicle has usually a constant characteristic for all running conditions, and in general it cannot meet continuously rising requirements concerning ride comfort, running safety, and high speed. In this paper, we present a semi-active suspension system for a railway vehicle to improve a ride comfort under various running conditions. Hardware and software of...
ZV input shaping control is simple and intuitive for reducing residual vibrations, but it is not robust to modeling errors of the plant. A few ways to increase the robustness of the ZV input shaper has been developed, which includes ZVD shapers, EI shapers, and SI shapers. As another way, the robustness of the ZV input shaper can be improved by convolving two simple ZV input shapers. In this paper,...
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