Abstract: The focus of this paper is on the design of robust input shapers where the maximum value of the cost function over the domain of uncertainty is minimized. This nonlinear programming problem ...

Abstract: This paper presents the development of an input-shaper/time-delay filter, which exploits knowledge of the zeros of a minimum-phase transfer function to reduce the output-transition time for a ...

Abstract: The focus of this paper is on the design of shaped profiles subject to transient state constraints and terminal energy limits. The issue of robustness to modeling errors is addressed by ...

Abstract: A linear programming approach designed to eliminate the residual vibration of the two-mass harmonic system subject to friction and undergoing a point-to-point maneuver is proposed and implemented ...

Abstract: Accounting for friction is important when designing controllers for precision motion control systems. However, the presence of the friction and the flexibility in the system yields undesirable ...

Abstract: The design of robust time-optimal controllers using the sensitivity concept is presented in this paper. A parameter optimization problem is solved using the Switch Time Optimization algorithm to ...

Abstract: A method for generating on-off command profiles for flexible systems is presented. The command profiles move a system without residual vibration while using a specified amount of actuator fuel. ...

Abstract: A probabilistic approach, which exploits the domain and distribution of the uncertain model parameters, has been developed for the design of robust input shapers. Polynomial chaos expansions are ...

Abstract: The focus of this work is on the development of a framework permitting the unification of generalized polynomial chaos (gPC) with the linear moment propagation equations, to accurately characterize ...