The Application of Input Shaping to a System with Varying Parameters David P. Magee, Graduate Student Dr. Wayne J. Book, Professor George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia The original input shaping technique developed by Singer and Seering is summarized and a different definition for residual vibration is proposed. The new definition ...

In this paper, experimental verifications of various jerk-limited control designs are presented. The focus is on a large slew maneuver of a flexible spacecraft where the fast and accurate pointing is required at the end of the maneuver. Various control profiles are investigated including input shaping and jerk-limited optimal control profiles, especially to account the effect of jerk in the con...

A primary limitation on crane operations is the difficulty of controlling payload oscillations. Given the significance of cranes, it is not surprising that a large amount of research has been dedicated to eliminating crane payload oscillation. Numerous feedbackbased control methods have been proposed. Command-shaping is another method that has received significant attention. This paper compares...

The objective of the work reported in this paper is to investigate the development of hybrid iterative learning control with input shaping for input tracking and end-point vibration suppression of a flexible manipulator. The dynamic model of the system is derived using the finite element method. Initially, a collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity...

This paper presents an approach for designing multi-input shapers using an s-plane pole placement technique. Slightly more information about the system model is taken into account than has been traditionally done with input shaping designs. The input shaping sequences for all system inputs are solved for simultaneously , and the resulting designs lead to shorter impulse sequences than solving f...

In the modeling of exible structures, there is generally uncertainty in both the frequencies and damping constants , and it is thus important that the control methods for such systems be robust to these uncertainties. Input shapers have been shown to yield good performance while being insensitive to modeling errors. Most previous input shaping studies, however, have addressed only frequency mod...

The sway motion of crane can be successfully suppressed by properly shaping the reference command. Input shaping is a one type of feed-forward shaping method that is based on linear superposition. In this paper, we present the impact of double pendulum type overhead crane (DPTOC) system on the effectiveness of input shaping. An unshaped bang-bang input force is used to determine the characteris...

The method of input shaping has been shown to yield good performance in the control of exible structures while being insensitive to modeling errors. However, previous studies do not take into account the distributions of the parameter variations. We develop a new input shaping method that allows the ranges of system parameter values to be weighted according to the expected modeling errors. Comp...