Abstract
Input shaping is an effective method for reducing oscillatory motion in linear systems. Many physical systems, however, exhibit discontinuous dynamics, such as saturation, rate limiting, backlash, and dead-zone. These hard nonlinearities can degrade the vibration reducing properties of shaped signals. This paper investigates the detrimental effects of dead-zone on a class of input-shaped commands. A mitigation strategy is proposed for reducing these detrimental effects when the value of the deadzone can be estimated. The robustness of this mitigation approach to uncertainties in the dead-zone width is also determined. Theoretical developments are experimentally verified using an industrial 10-ton bridge crane.
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