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TECHNICAL BRIEFS

Jerk Limited Input Shapers

[+] Author and Article Information
Tarunraj Singh

Department of Mechanical and Aerospace Engineering, SUNY at Buffalo, Buffalo, New York, 14260

J. Dyn. Sys., Meas., Control 126(1), 215-219 (Apr 12, 2004) (5 pages) doi:10.1115/1.1653808 History: Received October 23, 2002; Revised June 26, 2003; Online April 12, 2004
Copyright © 2004 by ASME
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References

Smith, O. J. M., 1957, “Posicast Control of Damped Oscillatory Systems,” Proc. of the IRE, pp. 1249–1255.
Singer,  N. C., and Seering,  W. P., 1990, “Preshaping Command Inputs to Reduce System Vibrations,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 76–82.
Swigert,  C. J., 1980, “Shaped Torque Techniques,” J. Guid. Control, 3, pp. 460–467.
Singh,  T., and Vadali,  S. R., 1993, “Robust Time-Delay Control,” ASME J. Dyn. Syst., Meas., Control, 112, No. 2A, pp. 303–306.
Singh,  T., and Vadali,  S. R., 1995, “Robust Time-Delay Control of Multimode Systems,” Int. J. Control, 62, No. 6, pp. 1319–1339.
Murphy,  B. R., and Watanabe,  I., 1992, “Digital Shaping Filters for Reducing Machine Vibrations,” IEEE Trans. Rob. Autom., 8, pp. 285–289.
Singh,  T., 2002, “Minimax Design of Robust Controllers for Flexible Systems,” AIAA Journal of Guidance, Control and Dynamics,25, No. 5, pp. 868–875.
Liu,  Q., and Wie,  B., 1992, “Robust Time-Optimal Control of Flexible Spacecraft,” J. Guid. Control Dyn., 15, No. 3, pp. 597–604.
Singh,  G., Kabamba,  P. T., and McClamroch,  N. H., 1990, “Bang-Bang Control of Flexible Spacecraft Slewing Maneuvers. Guaranteed Terminal Pointing Accuracy,” J. Guid. Control Dyn., 13, No. 2, pp. 376–379.
Singh,  T., and Vadali,  S. R., 1994, “Robust Time-Optimal Control: A Frequency Domain Approach,” J. Guid. Control Dyn., 17, No. 2, pp. 346–353.
Singh,  T., 1995, “Fuel/Time Optimal Control of the Benchmark Problem,” J. Guid. Control Dyn., 18, No. 6, pp. 1225–1231.
Hindle,  T. A., and Singh,  T., “Robust Minimum Power/Jerk Control of Maneuvering Structures,” 2001, J. Guid. Control Dyn., 24, No. 1A, pp. 816–826.
Muenchhof,  M., and Singh,  T., 2002, “Desensitized Jerk Limited Time-Optimal Control of Multi-Input Systems,” AIAA Journal of Guidance, Control and Dynamics,25, No. 3, pp. 474–481.
Sungyung,  Lim, Homer,  D. Stevens, and Jonathan,  P. How, 1999, “Input Shaping Design for Multi-Input Flexible Systems,” ASME J. Dyn. Syst., Meas., Control, 121(3), pp. 443–447.

Figures

Grahic Jump Location
Single Time-Delay Controlled System
Grahic Jump Location
Parameterized Control Profile
Grahic Jump Location
Switch Time Variation vs Jerk for ω=15
Grahic Jump Location
Switch Time Variation vs Frequency
Grahic Jump Location
Shaped Input and Comparison of system response
Grahic Jump Location
First-Order Filtered Time-Delay Filter
Grahic Jump Location
Sinusoid Filtered Time-Delay Filter
Grahic Jump Location
Sinusoid Filtered Time-Delay Filter
Grahic Jump Location
Sinusoid Filtered, Input Shaped Control Input

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