This paper tackles the problem of suppressing vibrations of a flexible beam mounted on a mobile robot for inspection purposes. The adopted approach is an input shaper design along with Bayesian optimization. The latter methodology is employed to find out the optimal shaping parameter, taking into account non-ideal behaviors as controller hysteresis and time delays. Experimental results bolster the performance of the proposed approach.
Bayesian optimization approach to input shaper design for flexible beam vibration suppression / Pasztori, Z.; Ruggiero, F.; Lippiello, V.; di Castro, M.. - 53:2(2020), pp. 9150-9156. (Intervento presentato al convegno 21st IFAC World Congress 2020 tenutosi a deu nel 2020) [10.1016/j.ifacol.2020.12.2159].
Bayesian optimization approach to input shaper design for flexible beam vibration suppression
Ruggiero F.;Lippiello V.;
2020
Abstract
This paper tackles the problem of suppressing vibrations of a flexible beam mounted on a mobile robot for inspection purposes. The adopted approach is an input shaper design along with Bayesian optimization. The latter methodology is employed to find out the optimal shaping parameter, taking into account non-ideal behaviors as controller hysteresis and time delays. Experimental results bolster the performance of the proposed approach.| File | Dimensione | Formato | |
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