Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers
Minimizing the vibrations of flexible structures during maneuvering is a challenging problem. Input shaping control is an effective way to reduce vibration, but in some cases, it does not guarantee a final rest state. In particular, if the initial state is not at rest, then it is difficult to bring...
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MDPI AG
2025-03-01
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| Online Access: | https://www.mdpi.com/2076-3417/15/6/2952 |
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| author | Shambo Bhattacharjee Jae Jun Kim Jennifer Hudson |
| author_facet | Shambo Bhattacharjee Jae Jun Kim Jennifer Hudson |
| author_sort | Shambo Bhattacharjee |
| collection | DOAJ |
| description | Minimizing the vibrations of flexible structures during maneuvering is a challenging problem. Input shaping control is an effective way to reduce vibration, but in some cases, it does not guarantee a final rest state. In particular, if the initial state is not at rest, then it is difficult to bring the final state to rest at the end of a maneuver. This article proposes the use of a single-switch reference control combined with an optimized Zero Vibration Derivative-Derivative (ZVDD) shaper. The ZVDD-shaped torque profile is defined by a small number of parameters, which can be optimized by a standard numerical optimization algorithm. The resulting control is effective in reducing vibration and bringing the final state to rest, regardless of the starting conditions. Two examples related to rest-to-rest control and non-rest-to-rest control are presented. |
| format | Article |
| id | doaj-art-1448e96f5aa6426eaebbd89f6d5025f5 |
| institution | Kabale University |
| issn | 2076-3417 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj-art-1448e96f5aa6426eaebbd89f6d5025f52025-08-20T03:43:51ZengMDPI AGApplied Sciences2076-34172025-03-01156295210.3390/app15062952Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest ManeuversShambo Bhattacharjee0Jae Jun Kim1Jennifer Hudson2Mechanical and Aerospace Engineering, Naval Postgraduate School, 1 University Circle, Monterey, CA 93943, USAMechanical and Aerospace Engineering, Naval Postgraduate School, 1 University Circle, Monterey, CA 93943, USAMechanical and Aerospace Engineering, Naval Postgraduate School, 1 University Circle, Monterey, CA 93943, USAMinimizing the vibrations of flexible structures during maneuvering is a challenging problem. Input shaping control is an effective way to reduce vibration, but in some cases, it does not guarantee a final rest state. In particular, if the initial state is not at rest, then it is difficult to bring the final state to rest at the end of a maneuver. This article proposes the use of a single-switch reference control combined with an optimized Zero Vibration Derivative-Derivative (ZVDD) shaper. The ZVDD-shaped torque profile is defined by a small number of parameters, which can be optimized by a standard numerical optimization algorithm. The resulting control is effective in reducing vibration and bringing the final state to rest, regardless of the starting conditions. Two examples related to rest-to-rest control and non-rest-to-rest control are presented.https://www.mdpi.com/2076-3417/15/6/2952input shapingrest-to-rest controlvibration reductionnon-rest-to-rest controltrajectory optimization |
| spellingShingle | Shambo Bhattacharjee Jae Jun Kim Jennifer Hudson Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers Applied Sciences input shaping rest-to-rest control vibration reduction non-rest-to-rest control trajectory optimization |
| title | Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers |
| title_full | Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers |
| title_fullStr | Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers |
| title_full_unstemmed | Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers |
| title_short | Input Shaping Control of a Flexible Structure for Rest-to-Rest and Non-Rest-to-Rest Maneuvers |
| title_sort | input shaping control of a flexible structure for rest to rest and non rest to rest maneuvers |
| topic | input shaping rest-to-rest control vibration reduction non-rest-to-rest control trajectory optimization |
| url | https://www.mdpi.com/2076-3417/15/6/2952 |
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