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Title: Genetic algorithm based method of elimination of residual oscillation in mechatronic systems (English)
Author: Hubinský, Peter
Author: Jurišica, Ladislav
Author: Vranka, Branislav
Language: English
Journal: Kybernetika
ISSN: 0023-5954
Volume: 41
Issue: 5
Year: 2005
Pages: [623]-636
Summary lang: English
Category: math
Summary: The paper presents control signals generation methods, preventing the excitation of residual vibration in slightly damped oscillational systems. It is focused on the feedforward methods, as most of the vibrations in examined processes are induced by the control, while the influence of disturbances is mostly negligible. Application of these methods involves ensuring of the insensitivity to natural frequency change, which can be reached in classical approach only by considerable increase of transient response duration. Genetic algorithms can be effectively applied for the numerical optimization of developed shaper while maintaining the insensitivity to parameter change and short time delay. (English)
Keyword: elimination of residual vibration
Keyword: input signal shaping
Keyword: genetic algorithm
MSC: 90C59
MSC: 93B40
MSC: 93C83
MSC: 93C95
MSC: 93D15
idZBL: Zbl 1249.93127
idMR: MR2192427
Date available: 2009-09-24T20:11:59Z
Last updated: 2015-03-23
Stable URL:
Reference: [1] Hubinský P.: Reducing of robot end-effector residual oscillations by means of control shaping.J. Electr. Engrg. 49 (1998), 129–133
Reference: [2] Hubinský P., Jurišica L.: Reducing of robot end effector residual vibration by means of control signal shaping.In: Internat. Conference on Electrical Drives and Power Electronics, Technical University of Košice, 1994
Reference: [3] Hubinský P., Vranka B.: Genetic algorithm based method of residual oscillation elimination in 2-dimensional positioning systems.In: SSKI Conference Kybernetika a informatika, Trebišov 2002
Reference: [4] Hubinský P., Vranka B.: Input shaping preventing the excitation of oscillation applied to the Voronoi diagram planned path.AT&P Journal, 2004
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Reference: [7] Singhose W. E., Seering W. P., Singer N. C.: Shaping inputs to reduce vibration: A vector diagram approach.IEEE J. (1990), 922–927
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Reference: [9] Smith J. Y., Kozák, K., Singhose W. E.: Input shaping for a simple nonlinear system.In: Proc. American Control Conference, Anchorage, AK, May 2002
Reference: [10] Vranka B.: On-line Method of Elimination of Vibration in Mechatronic Systems.Diploma Thesis (in Slovak). Faculty of Electrical Engineering, Slovak Technical University, Bratislava 2001
Reference: [11] Vranka B., Gruhler G.: Input-Shaping Methode zur Regelung von schwingungsfähigen Systems.A&D Compendium 2005. Publish Industry
Reference: [12] Závodský M., Hubinský P.: Elimination of residual vibration of pendulum mechanizm.AT&P J. Plus – Robotics, Mechatronics, Discrete Manufacturing Systems (2001), 26–29


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