This project presents investigations into the applications and performance of embedded input shaper in command shaping techniques for vibration control of a flexible manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. An unshaped bang-bang torque input is used to determine the characteristi...

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A control system combining input shaping and feedback is applied to a double-pendulum bridge crane subjected to external disturbances. The external disturbances represent naturally occurring forces, such as gusting winds. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections and disturbance-induced r...

Many mechanical systems are characterized by flexible joints. One of the main problems in control of this kind of devices are the mechanical oscillations. To avoid the problem of vibrations the input shaping method might be used. For the systems with variable parameters the standard methods of simple input shaping are insufficient and non-robust. More complicated algorithms, exemplary super-rob...

Input shaping is examined as a technique to reduce the residual vibration in flexible space structures. As part of a NASA program, a nonlinear threedimensional model of the Shuttle's Remote Manipulator System (SRMS) was used to test the interactions between feedback and feedforward control techniques. The problem of changing geometry systems was also examined in detail. As these systems move, t...

Minimizing the modal vibration induced by on-off thrusters is a challenging problem for designers of flexible spacecraft. This thesis presents the first study of PulseWidth, Pulse-Frequency (PWPF) modulated thruster control using the method of command input shaping. Input shaping for systems with linear actuators has been successfully developed to reduce modal vibrations. Recently, this method ...

A spherical pendulum-type model was constructed to represent liquid sloshing in a cylindrical container caused by container transfer along a curved path. The model was used to design a curved path and a transfer control system in consideration of the damping of sloshing in the container. The curvature radius of the curved path and the acceleration of the container were determined using an input...

In this paper, a new and simple approach for the vibration control of flexible spacecrafts during the attitude maneuvering is proposed. Our control strategy integrates the command input shaping and Reference Model Variable Structure Output Feedback Control (RMVSOFC) techniques. In this method, the input shaper is implemented outside of the feedback loop to achieve the exact elimination of the r...