Regularization-based recovery scheme for inverse dynamics of high-speed flexible beams

摘要

This paper addresses the regularization-based recovery scheme for the inverse dynamics of a flexible beam system. The regularized least square method is introduced in construction of the approximation solution of the inverse dynamics. The well-defined preshaping filter is established based on the regularized least square method for recovering the inverse dynamic solutions satisfying the torque constraints. A numeric simulation is presented to illustrate the validity of the regularization-based recovery scheme proposed in this paper.