The Delta robot is a high-speed and high-precision parallel robot. When it in function, the end effector generates residual vibration, which reduces repeat positioning accuracy efficiency. input shaping method has previously been shown to suppress vibration of robot, but suppression effect single-modal shaper not good for delta multiple dominant modes vibration. To solve this problem, paper pro...

In a companion paper (Part I), we investigated stability of induction motor drives, with resonant input filters. By using a linearized feedback model of the drive, it was shown how stability specifications could be transformed into constraints on the input admittance of the voltage source inverter. The stabilization problem then becomes a standard feedback control loop-shaping problem, where th...

This paper provides an application of the virtual reference feedback tuning (VRFT) method to a process control. The VRFT method is a direct method which determines parameters of a feedback controller using a set of input and output data of a plant. Originally, the VRFT method is presented for designing a single-input single-output control system. In this paper, the VRFT method is applied for a ...

Problem statement: Most of the common gantry crane results in a sway motion when transporting the load as fast as possible. In addition, precise cart position control of gantry crane must required a zero or near zero residual sway. Approach: In this study, the development of hybrid control schemes for input tracking and anti-sway control of a gantry crane system was investigated. To study the e...

Orthogonal eigenstructure control is used for designing a control law that decouples the dynamic modes of a flying vehicle. Orthogonal eigenstructure control is a feedback control method for linear time invariant multi-input multi-output systems. This method has been recently developed by authors. The advantage of this control method over eigenstructure assignment methods is that there is no ne...

Methods and apparatuses for reducing the oscillatory motion of rotary crane payloads during operator-commanded or computer-controlled maneuvers. An Input-shaping filter receives input signals from multiple operator input devices and converts them into output signals readable by the crane controller to dampen the payload tangential and radial sway associated with rotation of the jib. The input s...