Increasing the robustness of the input-shaping method using adaptive control

Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to digital@library.tamu.edu, referencing the URI of the item.Includes bibliographical references (leaves 51-53).Issued also on microfiche from Lange Micrographics.Input-Shaping is a widely used method of suppressing residual vibrations in point-to-point motion of flexible bodies. It is easy to implement and gives good results if the dynamics of the system are known accurately. However, it is not very robust to variations in system parameters. Early methods of increasing the robustness of the method incurred a large time penalty. Hence, attempts were made to apply Adaptive Control to increase the robustness of the Shaper. These methods met with limited success. In this thesis, we propose a new adaptive control scheme, which is effective in increasing the robustness of the shaper. It is also able to handle sudden changes in the plant parameters. The performance of the system in the presence of high-frequency un-modeled plant dynamics is also studied. In addition, this method gives the designer a certain degree of freedom in trying to shape the frequency response of the closed loop system