We investigate the constant amplitude nature of several time-optimal input shaping designs for controlling exible structures. We rst discuss the equivalence of the time-optimal zero-vibration shaper with the traditional time-optimal control problem. Then we show that several robust time-optimal shaper designs for exible systems are equivalent to the time-optimal controls for diierent systems. T...

Crane payloads are frequently subject to oscillations induced through movement and external disturbances. These oscillations degrade performance and can be dangerous. Input shaping is an effective method to move cranes without creating oscillation, however it is not effective on initial swing. This paper develops a feedback control system, with two operation modes based on input shaping, that a...

The direct discrete time control of Port Controlled Hamiltonian Systems (PCHS) in the sense of energy shaping and damping injection is considered. In order to give a direct discrete time design method for PCHS, firstly an appropriate discrete gradient is proposed, which enables the derivation of a discrete time equation corresponding to the discrete time counterpart of Hamiltonian Systems. Usin...

This work explores regulation of forward speed, step length, and slope walking for the passive-dynamic class of bipedal robots. Previously, an energy-shaping control for regulating forward speed has appeared in the literature; here we show that control to be a special case of a more general time-scaling control that allows for speed transitions in arbitrary time. As prior work has focused on po...

<p style='text-indent:20px;'>In the context of underactuated Hamiltonian systems defined by simple functions, matching conditions energy shaping method split into two decoupled subsets equations: <i>kinetic</i> and <i>potential</i> equations. The unknown kinetic equation is a metric on configuration space system, while potential are same positive-definite function ...

recent experiments on the spherical tokamak have discovered the conditions to create a powerful plasma and ensure easy shaping and amplification of stability, high bootstrap current and confinement energy. the spherical tours (st) fusion energy development path is complementary to the tokamak burning plasma experiment such as nstx and higher toroidal beta regimes and improves the design of a po...

We introduce optimal energy shaping as an enhancement of classical passivity-based control methods. A promising feature passivity theory, alongside stability, has traditionally claimed to be intuitive performance tuning along the execution a given task. However, systematic approach for adjusting within passive framework yet developed, each method relies on few and problem-specific practical ins...