Since its introduction, the command shaping method has been applied to the control of many types of flexible manipulators and sthe effectiveness in the vibration suppression has been verified. However, designing an effective command shaper requires a priori knowledge about the system parameters. Recently, some efforts have been made to make the command shaper adapt to the changes in the system parameters. In this paper, the indirect and the direct adaptive command shaping methods in the time domain are compared, especially in terms of the noise effect on the performance. Analysis shows that the direct approach is less sensitive to the noise and this analytic result is verified by the proper simulation. Finally, experimental results using the direct approach are included.
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