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Analysis and Mitigation of Dead-Zone Effects on Systems Using Two-Impulse ZV Input Shaping

[+] Author Affiliations
Khalid L. Sorensen, Patrick W. Cross, William E. Singhose, Shashvat Prakash

Georgia Institute of Technology, Atlanta, GA

Paper No. DETC2007-35592, pp. 991-1000; 10 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


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.

Copyright © 2007 by ASME



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