Input Shaper Design for Minimum over Travel

摘要

Input shaping control reduces overshoot and settling time in oscillatory dynamical systems. Although its vibration eliminating ability is very successful, the controlled output cannot response quickly to a stop-now command. The controller produces a delay penalty for travel motion to perform non-oscillatory result. The delay when a system comes to the rest position is known as overtravel. In this study, an optimal solution is searched for input shapers to reduce the induced overtravel in addition to oscillation elimination. The expression "overtravel" is used as an extra constraint in the input shaping design process to reduce the shaper duration. Comparisons between the new shapers are given here for minimum overtravel and maximum robustness. Results show efficiency of the new shapers.