A COMPARISON OF INPUT SHAPING AND TIME-OPTIMAL FLEXIBLE-BODY CONTROL

Input shaping is a method of reducing residual vibrations in computer- controlled machines, Shaped command profiles are generated by convolvi ng a sequence of impulses, an input shaper, with the desired command s ignal. The shaped command profile will move the system without residua l vibration. The performance of several types of input shapers is comp ared to the time-optimal flexible-body control in terms of maneuver sp eed, amplitude of transient deflection, robustness to modeling errors, excitation of unmodeled high modes, and ease of implementation. To fa cilitate the comparison, time-optimal flexible-body control is treated as a special case of input shaping. Copyright (C) 1997 Elsevier Scien ce Ltd.