A New Trajectory Optimizing Method Using Input Shaping Principles

الملخص EN

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.