Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression

This paper tackles the problem of suppressing vibrations of a flexible beam mounted on a mobile robot for inspection purposes. The adopted approach is an input shaper design along with Bayesian optimization. The latter methodology is employed to find out the optimal shaping parameter, taking into ac...

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Detalles Bibliográficos
Autores principales: Pásztori, Zsolt, Ruggiero, Fabio, Lippiello, Vincenzo, Castro, Mario di
Lenguaje:eng
Publicado: 2020
Materias:
Engineering
Acceso en línea:https://dx.doi.org/10.1016/j.ifacol.2020.12.2159
http://cds.cern.ch/record/2800447
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author Pásztori, Zsolt
Ruggiero, Fabio
Lippiello, Vincenzo
Castro, Mario di
author_facet Pásztori, Zsolt
Ruggiero, Fabio
Lippiello, Vincenzo
Castro, Mario di
author_sort Pásztori, Zsolt
collection CERN
description This paper tackles the problem of suppressing vibrations of a flexible beam mounted on a mobile robot for inspection purposes. The adopted approach is an input shaper design along with Bayesian optimization. The latter methodology is employed to find out the optimal shaping parameter, taking into account non-ideal behaviors as controller hysteresis and time delays. Experimental results bolster the performance of the proposed approach.
id cern-2800447
institution Organización Europea para la Investigación Nuclear
language eng
publishDate 2020
record_format invenio
spelling cern-28004472022-01-27T08:22:02Zdoi:10.1016/j.ifacol.2020.12.2159http://cds.cern.ch/record/2800447engPásztori, ZsoltRuggiero, FabioLippiello, VincenzoCastro, Mario diBayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration SuppressionEngineeringThis paper tackles the problem of suppressing vibrations of a flexible beam mounted on a mobile robot for inspection purposes. The adopted approach is an input shaper design along with Bayesian optimization. The latter methodology is employed to find out the optimal shaping parameter, taking into account non-ideal behaviors as controller hysteresis and time delays. Experimental results bolster the performance of the proposed approach.oai:cds.cern.ch:28004472020
spellingShingle Engineering
Pásztori, Zsolt
Ruggiero, Fabio
Lippiello, Vincenzo
Castro, Mario di
Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression
title Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression
title_full Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression
title_fullStr Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression
title_full_unstemmed Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression
title_short Bayesian Optimization Approach to Input Shaper Design for Flexible Beam Vibration Suppression
title_sort bayesian optimization approach to input shaper design for flexible beam vibration suppression
topic Engineering
url https://dx.doi.org/10.1016/j.ifacol.2020.12.2159
http://cds.cern.ch/record/2800447
work_keys_str_mv AT pasztorizsolt bayesianoptimizationapproachtoinputshaperdesignforflexiblebeamvibrationsuppression
AT ruggierofabio bayesianoptimizationapproachtoinputshaperdesignforflexiblebeamvibrationsuppression
AT lippiellovincenzo bayesianoptimizationapproachtoinputshaperdesignforflexiblebeamvibrationsuppression
AT castromariodi bayesianoptimizationapproachtoinputshaperdesignforflexiblebeamvibrationsuppression

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