Arresting Motion in Nonlinear Systems Using Two-Scale Command Shaping

2021 ◽  
Author(s):  
Alexander Alyukov ◽  
Michael Leamy
Keyword(s):  
Nonlinear Systems ◽  
Command Shaping

Two-scale command shaping for feedforward control of nonlinear systems

2018 ◽  
Vol 92 (3) ◽  
pp. 885-903 ◽  
Author(s):  
J. Justin Wilbanks ◽  
Christopher J. Adams ◽  
Michael J. Leamy
Keyword(s):  
Nonlinear Systems ◽  
Feedforward Control ◽  
Command Shaping

Command Shaping for MIMO Nonlinear Systems Using Iterative Learning Control With Application to an RTP System

2000 ◽  
Author(s):  
Dick de Roover ◽  
Abbas Emami-Naeini ◽  
Jon L. Ebert ◽  
Robert L. Kosut
Keyword(s):  
Nonlinear Systems ◽  
Iterative Learning Control ◽  
Mimo Systems ◽  
Nonlinear Behavior ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Current Output ◽  
Command Shaping ◽  
Output Trajectory

Abstract Input command shaping for temperature control of fast-ramp RTP systems is investigated from an open-loop-input point of view, i.e., for a given desired temperature recipe a set of lamp command profiles is determined such that the resulting set of measured temperatures approaches the desired recipe as closely as possible. Because of the inherent nonlinear behavior of RTP systems, a command shaping method has been developed that iteratively modifies the optimal linear commands to compensate for the nonlinearities. This method, which has been derived from Iterative Learning Control (ILC), shapes the input commands iteratively so as to minimize the two-norm between a desired output trajectory and the simulated current output trajectory. The technique is applicable to MIMO systems and can handle constraints on the input commands. Application of this method to a fast-ramp oxidation (RTO) and fast-ramp spike anneal (RTA) process for a model of a generic RTP system demonstrates its usefulness for nonlinear systems.

Residual Vibration Suppression for Duffing Nonlinear Systems With Electromagnetical Actuation Using Nonlinear Command Shaping Techniques

2006 ◽  
Vol 128 (6) ◽  
pp. 778-789 ◽  
Author(s):  
Kuo-Shen Chen ◽  
Tian-Shiang Yang ◽  
Jui-Feng Yin
Keyword(s):  
Nonlinear Systems ◽  
Vibration Suppression ◽  
Residual Vibration ◽  
Single Degree Of Freedom ◽  
Weakly Nonlinear ◽  
Command Shaping ◽  
Magnetically Actuated ◽  
Highly Nonlinear ◽  
Parameter Variations ◽  
Residual Vibration Suppression

Residual vibration control is crucial for numerous applications in precision machinery with negligible damping such as magnetically actuated systems. In certain magnetically actuated applications, the systems could also be highly nonlinear and conditionally stable. Although traditional command shaping techniques work well for linear and weakly nonlinear systems, they show little effects for dealing with systems with both strong structural and actuation nonlinearities. In this paper, a general input shaper design methodology for single degree of freedom systems with both Duffing spring and electromagnetic forcing nonlinearities is successfully devised using an energy approach. Following this method, two-step and three-step shapers are developed, which in the linear limit reduce to the traditional zero-vibration (ZV) and zero-vibration-and-derivative (ZVD) shapers, respectively. The robustness of these nonlinear shapers is investigated numerically through several case studies and the results show that the three-step shaper is sufficiently robust to resist significant amounts of parameter variations without exciting significant residual vibration. The two-step shaper, however, is somewhat less robust with respect to parameter variations. Meanwhile, an electromagnetically driven Duffing mechanical system is also constructed so that the performances and robustness of the nonlinear shapers in vibration suppression can be examined. It is shown that the nonlinear shapers result in a significant improvement in residual vibration suppression and settling time reduction in comparison with the traditional linearized ZV and ZVD shapers.

Identification of Continuous-time Nonlinear Systems via Local Gaussian Process Models

2014 ◽  
Vol 134 (11) ◽  
pp. 1708-1715
Author(s):  
Tomohiro Hachino ◽  
Kazuhiro Matsushita ◽  
Hitoshi Takata ◽  
Seiji Fukushima ◽  
Yasutaka Igarashi
Keyword(s):  
Nonlinear Systems ◽  
Gaussian Process ◽  
Continuous Time ◽  
Process Models ◽  
Gaussian Process Models
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