Robust Vibration Suppression in Flexible Systems Using Infinite Impulse Response Digital Filters

Economou, D; Mavroidis, C; Antoniadis, I

dc.contributor.author	Economou, D	en
dc.contributor.author	Mavroidis, C	en
dc.contributor.author	Antoniadis, I	en
dc.date.accessioned	2014-03-01T01:21:18Z
dc.date.available	2014-03-01T01:21:18Z
dc.date.issued	2004	en
dc.identifier.issn	0731-5090	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/16195
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-1042288980&partnerID=40&md5=262363daeba216365f724cbffa91f498	en
dc.subject.classification	Engineering, Aerospace	en
dc.subject.classification	Instruments & Instrumentation	en
dc.subject.other	Robustness-error-delay (RED) curves	en
dc.subject.other	Vibration suppression	en
dc.subject.other	Chebyshev approximation	en
dc.subject.other	Computational methods	en
dc.subject.other	Curve fitting	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Error analysis	en
dc.subject.other	FIR filters	en
dc.subject.other	Flexible manufacturing systems	en
dc.subject.other	Manipulators	en
dc.subject.other	Natural frequencies	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Vibration control	en
dc.title	Robust Vibration Suppression in Flexible Systems Using Infinite Impulse Response Digital Filters	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	2004	en
heal.abstract	A method for vibration suppression is proposed, based on the preconditioning of any arbitrary input to the system, by using infinite impulse response filters. As shown theoretically, infinite impulse response filters can be used to suppress vibrations of flexible systems efficiently when they are properly designed. A new filter design tool is proposed to ensure this proper design: the robustness-error-delay curves concept. Based on these curves, filters with optimal vibration suppression properties can be parametrically predesigned independently from the specific dynamic system. As shown by the robustness-error-delay curves developed for conventional infinite impulse response filters, they meet a given set of specifications with a number of coefficients much smaller than that of other filter types, and thus, they allow the reduction of the computational effort and time, which may be crucial in the real-time filter implementation. It is shown, also, that infinite impulse response filters improve significantly the overall vibration suppression quality. At the same time, they maintain the simplicity and efficiency of the application of the existing preconditioning methods to any specific dynamic system. The vibration suppression properties of these filters are experimentally demonstrated, using a flexible aluminum beam attached to the end effector of a robot manipulator.	en
heal.publisher	AMER INST AERONAUT ASTRONAUT	en
heal.journalName	Journal of Guidance, Control, and Dynamics	en
dc.identifier.isi	ISI:000188246600011	en
dc.identifier.volume	27	en
dc.identifier.issue	1	en
dc.identifier.spage	107	en
dc.identifier.epage	117	en