文献类型：会议论文

英文题名：Adaptive Input Shaping Control Based on RLS for Harvesting Mechanical Arm

作者：Sun, Mingming[1,2];Liu, Dexin[3,4]

第一作者：Sun, Mingming

通讯作者：Sun, MM[1];Sun, MM[2]

机构：[1]Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing 100083, Peoples R China;[2]Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China;[3]Beijing Union Univ, Beijing Key Lab Informat Serv Engn, Beijing 100101, Peoples R China;[4]Beijing Union Univ, Coll Robot, Beijing 100101, Peoples R China

第一机构：Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing 100083, Peoples R China

通讯机构：[1]corresponding author), Univ Sci & Technol Beijing, Basic Expt Ctr Nat Sci, Beijing 100083, Peoples R China;[2]corresponding author), Univ Sci & Technol Beijing, Sch Automat & Elect Engn, Beijing 100083, Peoples R China.

会议论文集：IEEE 12th Data Driven Control and Learning Systems Conference (DDCLS)

会议日期：MAY 12-14, 2023

会议地点：Xiangtan, PEOPLES R CHINA

语种：英文

外文关键词：Adaptive Input Shaping; Harvesting Mechanical Arm; Residual Vibration; Load Varied and RLS

摘要：In this paper, a direct method of adaptive input shaping algorithm for a harvesting mechanical arm clamps the tomato bunches is proposed to achieved zero residual vibration. The traditional input shaping would lose its vibration suppressing function when the system parameter changed during mechanical arm's load varied. The adaptive input shaping algorithm based on recursive least square method (RLS) requires no system identification. The residual vibration of output signal is used as the input of the algorithm to calculate the impulse time and amplitude of shaper. An adaptive forgetting factor updating algorithm is proposed to improve the control performance in variable load condition. The experimental results show that the adaptive forgetting factor input shaper greatly reduces the residual vibration.