Global Sensitivity Analysis based Design of Input Shapers

This paper focuses on the development of a global sensitivity based design of robust input shapers. The Derivative-based Global Sensitivity Measure (DGSM) which consists of the expected value of the absolute value of the gradient of the terminal residual energy with respect to the uncertain parameters, is used to tradeoff performance to robustness. A multi-objective cost function which is a convex combination of the terminal residual energy for rest-to-rest maneuvers and the DGSM, is used to design robust input shapers. The proposed approach is illustrated on a single spring-mass-dashpot system and the benchmark floating oscillator. As compared to the traditional Zero Vibration Derivative Input Shaper, the proposed approach is demonstrated to reduce the average residual energy over the domain of uncertainty.