Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers

Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers

Blog Article

Minimizing the vibrations of flexible structures during maneuvering is a challenging problem.Input shaping control is an effective way to reduce vibration, but in some cases, it does not guarantee a final rest state.In Handlebar particular, if the initial state is not at rest, then it is difficult to bring the final state to rest at the end of a maneuver.This article proposes the use of a single-switch reference control combined with an optimized Zero Vibration Derivative-Derivative (ZVDD) shaper.The ZVDD-shaped torque profile is defined by a small number of parameters, Blue Bottle Lamp Gift Box which can be optimized by a standard numerical optimization algorithm.

The resulting control is effective in reducing vibration and bringing the final state to rest, regardless of the starting conditions.Two examples related to rest-to-rest control and non-rest-to-rest control are presented.