Motion control by preshaping: extension for explicit fractional derivative systems.
Résumé
Shaping command input or preshaping is used for reducing system oscillation in motion control. Desired systems inputs are altered so that the system finishes the requested move without residual oscillation. This technique, developed by N.C. Singer and W.P. Seering, is used for example in the aerospace field, in particular in flexible structure control. This paper presents the extension of this method for explicit fractional derivative systems (generalized derivative systems). The final goal is to improve the second generation CRONE control (explicit fractional derivative transfer function) response time, applying these results. Two analytical approaches permit the synthesis of a suitable shaper.