Saturation compensating input shapers for reducing vibration

Abstract

Input shaping can be used to eliminate or greatly reduce residual vibration of flexible mechanical systems. The input shaping filter is based on the characteristics of the system, namely the frequencies and damping ratios. When the actuator saturates, the dynamics become nonlinear. As the nonlinearity increases, the effectiveness of standard input shapers tends to degrade. This paper presents a new class of input shapers that account for actuator saturation