Command generation combining input shaping and smooth baseline functions
AssigneeGeorgia Tech Research Corporation
InventorsRaynald F. Eloundou, William E. Singhose
Life of this patent
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Abstract
One preferred embodiment of the invention provides systems and methods for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics. Briefly described, one embodiment of the system among others, can be broadly summarized by as follows. A control entity generates a desired motion command for a physical system. A command generator then produces a shaped-smooth reference command for the physical system from the desired motion command that will cause the physical system to move in the desired motion without unwanted dynamics. Methods and other systems are also provided.
Claims34
A system for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics comprising:
- a command generator responsive to a motion command to generate a shaped-smooth command as input to the physical system for controlling the physical system while suppressing unwanted dynamics in the physical system, wherein the shaped-smooth command is formed by combining a smooth command profile with an input shaper, the shaped-smooth command suppressing unwanted dynamics within the physical system, the unwanted dynamics including at least one low mode and at least one high mode.
A system for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics comprising:
- means for generating a motion command for the physical system;
- and
- means for generating a shaped-smooth command as input to the physical system from the motion command that suppresses unwanted dynamics in the physical system, wherein the shaped-smooth command is formed by combining a smooth command profile with an input shaper, the shaped-smooth command suppressing unwanted dynamics within the physical system, the unwanted dynamics including at least one low mode and at least one high mode.
A method for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics comprising:
- receiving a motion command for the physical system;
- and
- generating a shaped-smooth command as input to the physical system from the motion command that suppresses unwanted dynamics in the physical system, wherein the shaped-smooth command is formed by combining a smooth command profile with an input shaper, the shaped-smooth command suppressing unwanted dynamics within the physical system, the unwanted dynamics including at least one low mode and at least one high mode.
A computer readable medium having a computer program for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics, the program for performing the steps of:
- receiving a motion command for the physical system;
- and
- generating a shaped-smooth command as input to the physical system from the motion command that suppresses unwanted dynamics in the physical system, wherein the shaped-smooth command is formed by combining a smooth command profile with an input shaper, the shaped-smooth command suppressing unwanted dynamics within the physical system, the unwanted dynamics including at least one low mode and at least one high mode.
Dependencies are inferred from the claim text.