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Strategies for Shaping Commands in the Control of Flexible Structures

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Abstract:
For speed and fuel-efficiency purposes, lightweight flexible materials are used in the construction of many systems. The control of such flexible structures, however, is a difficult problem and has been an active research area. Methods that have been investigated for controlling flexible structures can be roughly divided into two categories: feedback and feedforward approaches. Feedback control methods use measurements and estimates of the system states to reduce vibration. While feedback techniques have demonstrated good control of flexible structures, the complexity of these feedback methods can often be significantly decreased by using a feedforward controller that alters the actuator commands to reduce the residual system oscillations. In this talk, we will focus on discussing a general feedforward approach known as input shaping for controlling flexible systems to achieve rapid maneuvers, which are desired in many applications such as robotic manipulators, disk-drive heads, or pointing systems. We will briefly review "standard" input shaping techniques and then present some of our work in designing time-optimal and fuel-efficient input shapers, in developing command shaping methods for multiple actuator systems, and in designing shapers that minimize the expected level of residual vibration.

http://ece-www.colorado.edu/~pao
Type of Seminar:
Public Seminar
Speaker:
Ass. Prof. Lucy Y. Pao
Electrical and Computer Engineering Dept, Engr Ctr EE 1B55 University of Colorado Boulder, CO 80309-0425, USA
Date/Time:
Apr 11, 2000   17:15
Location:

ETH-Zentrum, ETZ E6, Gloriastrasse 35, 8006 Zurich
Contact Person:

Ch. Frei
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Biographical Sketch:
Dr. Pao has worked at a number of companies and has also been on the faculty at North-western University in Illinois. Since 1995, she has been with the University of Colorado at Boulder, where she is currently an Associate Professor in the Electrical and Computer Engineering Department. Her research interests are in the control of flexible structures, multisensor data fusion, and haptic and visual/haptic interfaces, and she is an author on over 50 refereed journal and conference papers in these areas. She has served a number of times on the Program Committees for the American Control Conference and the IEEE Conference on Decision and Control, and also served a couple times on the Organizing Committee for the International Symposium on Motion and Vibration Control. She has been an Associate Editor on the Conference Editorial Board of the IEEE Control Systems Society, and is currently the Editor for the Am. Automatic Control Council newsletter. Dr. Pao is the recipient of a National Science Foundation Early Faculty CAREER Development Award and an Office of Naval Research Young Investigator Award. She was also a winner of the 1996 IFAC World Congress Young Author Prize.