Improving the motion of a sensing antenna by using an input shaping technique

Abstract

This work proposes an open loop control for driving a flexiblelink based sensor. The control strategy is based on an (IS) Input Shaping technique in order to reduce link vibrations and includes two algebraic controllers to deal with precisemotor positioning, as well as minimize the high non-linear motor friction. The antenna performs free azimuthal and vertical movements as part of a first driving stage when moving the antenna fast and accurately, before collision and while searching for precise areas of objects. The vertical movement is clearly non-linear due to the gravity effect. Some experiments illustrate that the controllers provided significant results driving the motors accurately and reducing large part of the flexible-link vibration.