Robust Input Shaping Control for Flexible Structures Based on Unscented Kalman Filter

TL;DR

This paper presents a novel unscented Kalman filter-based zero vibration derivative input shaping method that enhances vibration suppression in flexible structures, demonstrating significant improvements through experimental validation.

Contribution

It introduces a data-driven UZK filter combined with ZVD input shaper for robust vibration control, addressing parameter inaccuracies and environmental disturbances.

Findings

Significant vibration reduction in flexible beam experiments

Improved robustness over traditional input shaping methods

Public availability of experimental datasets

Abstract

With the rapid development of industrial automation and smart manufacturing, the control of flexible structures and underactuated systems has become a critical research focus. Residual vibrations in these systems not only degrade operational efficiency but also pose risks to structural integrity and longevity. Traditional input shaping techniques, while effective, often suffer from performance degradation due to parameter inaccuracies and environmental disturbances. To address these challenges, this paper introduces an innovative unscented Kalman filter-based zero vibration derivative input shaping (UZS) method. The proposed approach combines two key innovations: 1) a data-driven Unscented Kalman Filterfor real-time system parameter identification, and 2) a zero-vibration derivative (ZVD) input shaper for robust vibration suppression. To validate the effectiveness of UZS, we conducted extensive experiments on a vertical flexible beam platform, and the results demonstrate significant improvements over state-of-the-art methods. Additionally, we have made the experimental datasets publicly available to facilitate further research. The findings highlight UZS's potential for practical applications in industrial automation, robotics, and precision engineering.