A New Trajectory Optimizing Method Using Input Shaping Principles

• Main Authors: Pu Zhao, Yunfei Zhou, Rougang Zhou
• Format: Article
• Language: English
• Published: Hindawi Limited 2018-01-01
• Series: Shock and Vibration
• Online Access: http://dx.doi.org/10.1155/2018/4173253

Input shaping is an efficient control technique which has motivated a great number of contributions in recent years. Such a technique generates command signals that can manoeuvre flexible structures without exciting their vibration modes. This paper introduces a new trajectory optimizing method based on input-shaping principles. The main characteristic of this method in comparison with traditional input-shaping technique is the generating process of final trajectory. By adding reversion and postprocessing procedures before input shapers, time-delay and most of the trajectory deviation can be removed. The improvement of the proposed method compared with a traditional method is evaluated by simulations. It will be shown that the proposed method leads to no time-delay and highly decreased trajectory deviation and little change of robustness.