Noise effect on adaptive command shaping methods for flexible manipulator control

Since its introduction, the command shaping method has been applied to the control of many types of flexible manipulators and sthe effectiveness in th e vibration suppression has been verified. However, designing an effective command shaper requires a priori knowledge about the system parameters. Rec ently, 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 direc t adaptive command shaping methods in the time domain are compared, especia lly in terms of the noise effect on the performance. Analysis shows that th e direct approach is Less sensitive to the noise and this analytic result i s verified by the proper simulation. Finally, experimental results using th e direct approach are included.