Poznan Unive Rsit Y of Te Chnology Acade Mic Journals

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-robust, can be used, but have negative influence on the regulation time. The alternative method is an adaptive algorithm of input shaping. Both methods are compared on the crane system with variable load mass and line length. The algorithms of system parameter changing are executed with variable speed. The research was made in Matlab/Simulink environment.