Input shaping is a vibration control technique that operates by filtering reference commands so that the modified (or shaped) command does not excite the system’s natural frequencies. Usually, input shaping is limited to a filtering operation outside of any feedback loops. However, this implementation prevents input shaping from effecting some vital control applications including disturbance re...

This paper proposes a control method that can balance the input current of the three phase, three wire, Boost rectifier under unbalanced input voltage condition. The control objective is to operate the rectifier in the high power factor mode under normal operating condition but to give ovemdmg priority to the current balance function in case of unbalance in the input voltages. The inner loop im...

The natural sway of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is complicated when the payloads create a double-pendulum effect. Most crane control research to date has focused on single-mode dynamics. For example, several researchers have shown that signal-mode oscillations can be greatly reduced by properly shaping the inputs to the cr...

This paper presents investigations into the development of composite control schemes for trajectory tracking and antisway control of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. The proposed method, known as the Single Input Fuzzy Logic Controller (SIFLC), reduces...

This paper compares command shaping techniques for controlling residual vibration of high-performance machines. Input shaping generates vibration-reducing shaped commands through convolution of an impulse sequence with the desired command. Because input shaping has similarities to notch filtering, it is compared here with a variety of FIR and IIR filters. Several types of input shapers are pres...

An iterative learning control method is proposed to achieve precise tracking control and end-point vibration suppression of a flexible manipulator system. The learning is done in a feedback configuration with collocated PD control and the learning law updates the feedforward input from the error of the previous trial. Simulation results of the response of the manipulator with the controller are...

The paper describes a practical approach to investigate and develop a hybrid iterative learning control scheme with input shaping. An experimental flexible manipulator rig and corresponding simulation environment are used to demonstrate the effectiveness of the proposed control strategy. A collocated proportional-derivative (PD) controller utilizing hub-angle and hub-velocity feedback is develo...