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Analysis of a Generalized ZVD Shaper Using Impulse Vectors

Chul-Goo Kang*, Rubayet Hassan, and Kyung-Youn Kim
International Journal of Control, Automation, and Systems, vol. 18, no. 8, pp.2088-2094, 2020

Abstract : Recently, an impulse vector was introduced as an effective mathematical tool to design and analyze input shapers. In this paper, we generalize the ZV (zero vibration) and ZVD (zero vibration and derivative) shapers by using impulse vectors. The proposed generalized ZVD shaper is defined by letting the ratio m of the third impulse vector magnitude to the first impulse vector magnitude in the impulse vector diagram to be variable. Then two extreme cases of the generalized ZVD shaper are the ZV and ZVD shaper when m = 0 and m = 1, respectively. The generalized ZVD shaper has the performance between ZV and ZVD shaper performance in view of robustness to modeling errors. The validity of the proposed generalized ZVD shaper is demonstrated by simulation and experimental works using an up-and-down flexible beam device.

Keyword : Impulse vector, input shaper, input shaping, residual vibration, ZVD shaper.

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