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Input preshaping vibration suppression of beam-mass-cart systems using robust internal-loop compensator

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4 Author(s)
Bong Keun Kim ; Robotics & Bio-Mechatronics Lab., Pohang Inst. of Sci. & Technol., South Korea ; Sangeok Park ; Wan Kyun Chung ; Youngil Youm

In this paper, an input preshaping control method with robust disturbance attenuation algorithm is proposed to suppress vibration of a translating flexible beam carrying a fixed or moving mass. The input preshaping method is based on the analytic modeling of the system and frequency equation as a function of various parameters including the position of moving mass. By using a generalized framework for disturbance attenuation, it is shown that an input preshaping method can be easily designed to reduce single mode residual vibration and to get accurate positioning of a beam-mass-cart system in the presence of uncertainty and disturbance.

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Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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