Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the study of ZV shaper for explicit fractional derivative systems (generalized derivative systems). A robustness study of ZV shaper is then presented and applied to improve second generation CRONE control response time. Results in simulation and on a DC motor bench are given.
Volume Subject Area:Mechanical Vibration and Noise
Keywords:Robotics, motion control, input-shaping, preshaping, path tracking, fractional systems, optimal control, robust control, Crone control, DC motor
Topics:Engines, Motion control, Motors
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