Abstract：Single-mode flexible mechanical structures behave the dynamical performance of long-time damped vibration. A generalized scheme based on adaptive PD control in conjunction with input shaping technique is discussed for the Single-mode flexible mechanical structures. The input shaper is implemented outside the feedback loop, which is designed for the reference model and achieves the exact reduction of residual vibration by modifying the existing command; while the adaptive PD controller considering the impact of parametric uncertainties of the system can obtain the satisfactory performance by tracking the output of the reference model. Simulation results for the anti-swing control for the overhead crane show precise trajectory control and satisfactory vibration suppression.
贾鹏霄;李恩;梁自泽;强艳辉 . PD自适应控制结合输入整形抑制单模态弹性机构振动研究[J]. , 2013, 32(17): 189-193.
JIA Peng-xiao LI En LIANG Zi-ze QIANG Yan-hui . Research on Adaptive PD Control Combined with Input-shaping for Suppressing the Vibration of Single-mode Flexible Mechanical . , 2013, 32(17): 189-193.
2013, Vol. 32 
