Input shaping is an established technique to generate prefilters that move flexible mechanical systems with little or no residual vibration. Traditional input shaping design strategies are often analytical; however, the present paper introduces a design method based on numerical optimization. The paper shows that, through a careful selection of the optimization variables, objective function and...

Input shaping is a method for reducing residual vibrations in computer controlled machines. Vibration is eliminated by convolving an input shaper, which is a sequence of impulses, with a desired system command to produce a shaped input. The shaped input then becomes the command to the system. Requiring the vibration reduction to be insensitive to modeling errors and system nonlinearities is cri...

This paper presents investigations into the development of input shaping techniques for swaying control of a doublependulum-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. An unshaped bang-bang input force is used to determine the characteristic parameters of the system for design and...

Input shaping reduces residual vibrations by convolving a sequence of impulses, an input shaper, with the desired system command. Using negative impulses in the shaper leads to faster maneuvers. Unfortunately, when negative input shapers are used, there is no guarantee that the shaped command will satisfy actuator limitations. A new type of negative input shaper is presented that satisfies actu...

In this paper, the skew control of the load (container) in the quay crane used in the dockside of a container terminal is investigated. The mathematical model of the 3-dimensional (3D) motions of the load is first derived. The container hooked to a spreader is suspended by four ropes in air. When the container is accelerated by the trolley or is disturbed by winds, it will make a rotational mot...

This paper discusses a vehicle control augmentation strategy bringing into focus the phase property, and proposes a control bandwidth phase shaping technique which is applicable to control augmentation system design. This paper points out that the problem setting of the control augmentation system design and structure/control integrated design has similarity. As expected from the similarity, it...

in this paper a new strategy is proposed to design a fixed-structure robust controller for a flexible beam.  robust controller designed by the conventional  loop­ shaping method is not appropriate for a beam because of its high order and complicated form. fixed-structure  loop shaping control in conjunction with particle swarm optimization (pso)algorithm  is used to overcome this drawback. the ...

Input shaping is a method for reducing residual vibrations in computer controlled machines. Vibration is eliminated by convolving a sequence of impulses, an input shaper, with a desired system command to produce a shaped input. The shaped input is then used to drive the system. The input shaper has traditionally contained only positively valued impulses. However, when the impulses are allowed t...

___________________________________________________________ iii TABLE OF CONTENTS ___________________________________________________ iv LIST OF FIGURES _______________________________________________________ vi LIST OF TABLES_________________________________________________________ x NOMENCLATURE _______________________________________________________ xi