Input shapers for reducing overshoot in human-operated flexible systems

@article{Vaughan2009InputSF,
  title={Input shapers for reducing overshoot in human-operated flexible systems},
  author={Joshua C Vaughan and William E. Singhose},
  journal={2009 American Control Conference},
  year={2009},
  pages={178-183}
}
Input shaping is a command generation method for creating commands that result in low levels of residual vibration. The vibration reduction is accomplished by slightly increasing the acceleration and deceleration periods of the command. The increase in the deceleration period can lead to system overshoot. This paper presents a new class of Zero Overtravel (ZO) input shapers that are designed to reduce shaper-induced overtravel from human-operator commands. During the development of these new… CONTINUE READING

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