TY - GEN
T1 - Reduced-modification input shapers for manually controlled systems with flexibility
AU - Potter, James J.
AU - Singhose, William E.
PY - 2014
Y1 - 2014
N2 - Many systems require a human in the control loop. When the controlled system has flexibility, the human can have significant difficulties operating the machine. Input-shaping improves control of the flexible element by reducing system vibration. However, it may have a negative effect on control of the driven base or vehicle. This paper presents a new type of input shaper that suppresses vibration while modifying the operator's command as little as possible, thereby improving control of the driven base. A manual tracking experiment compared tracking performance and subjective difficulty using both new and conventional input shapers. All input shapers improved tracking performance with the flexible element, and the new input shapers did not significantly degrade tracking with the driven base.
AB - Many systems require a human in the control loop. When the controlled system has flexibility, the human can have significant difficulties operating the machine. Input-shaping improves control of the flexible element by reducing system vibration. However, it may have a negative effect on control of the driven base or vehicle. This paper presents a new type of input shaper that suppresses vibration while modifying the operator's command as little as possible, thereby improving control of the driven base. A manual tracking experiment compared tracking performance and subjective difficulty using both new and conventional input shapers. All input shapers improved tracking performance with the flexible element, and the new input shapers did not significantly degrade tracking with the driven base.
KW - Human-in-the-loop control
UR - https://www.scopus.com/pages/publications/84905695542
U2 - 10.1109/ACC.2014.6858914
DO - 10.1109/ACC.2014.6858914
M3 - Conference contribution
AN - SCOPUS:84905695542
SN - 9781479932726
T3 - Proceedings of the American Control Conference
SP - 2815
EP - 2820
BT - 2014 American Control Conference, ACC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 American Control Conference, ACC 2014
Y2 - 4 June 2014 through 6 June 2014
ER -