Wave-based control (WBC) is a technique for motion control of under-actuated flexible systems. It envisages actuator motion as launching a motion wave into the system, while simultaneously absorbing any wave returning from the system. For rest-to-rest motion the net launch displacement is set at half the target displacement. In absorbing the returning wave and vibrations, WBC moves the system the remaining distance to the target, with zero steady-state error. The focus of this paper is on very small residual vibrations around the target position which can endure for a long time after arrival at target. This issue was discovered through a recent development within WBC context on controlling complex two-dimensional, mass-spring, beam-like arrays. To date their existence has been unidentified. This paper investigates and interprets the nature of these vibrations, explains and identifies them based on wave ideas, and finally offers a new wave-based approach to mitigate or suppress them. It also discusses their implication, not just for WBC but for the general problem of control of flexible systems.

中文翻译：

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在集总的，灵活的系统的基于波的控制中识别和减轻残留振动

基于波的控制（WBC）是一种用于欠驱动柔性系统运动控制的技术。它设想了致动器的运动，即向系统中发射运动波，同时吸收从系统返回的任何波。对于静止运动，净发射位移设置为目标位移的一半。在吸收返回波和振动时，WBC将系统移动到目标的剩余距离，且稳态误差为零。本文的重点是目标位置周围很小的残留振动，这些残留振动在到达目标后会持续很长时间。这个问题是通过WBC在控制复杂的二维，质量弹簧，束状阵列方面的最新发展发现的。迄今为止，它们的存在尚未确定。本文研究并解释了这些振动的本质，并根据波浪思想对其进行了解释和识别，最后提供了一种新的基于波浪的方法来减轻或抑制它们。它还讨论了它们的含义，不仅对于WBC，而且还涉及对灵活系统控制的一般问题。