An Adaptive Input Shaping Control Scheme for Vibration Suppression in Slewing Flexible Structures

Anthony Tzes, Stephen Yurkovich

Research output: Contribution to journalArticlepeer-review


The application of an input precompensation scheme for vibration suppression in slewing flexible structures, with particular application to flexible-link robotic manipulator systems, is considered. The control from such input shaping schemes corresponds to a feedforward term that convolves in real time the desired reference input with a sequence of impulses and produces a vibration-free output. The robustness of such an algorithm with respect to modal frequency variations is not satisfactory but can be improved by convolving the input with a longer sequence of impulses, the tradeoff being a decrease in the transient response speed. An adaptive precompensation scheme is suggested in this work which can be implemented by combining a frequency domain identification scheme, used to estimate the modal frequencies on-line, with a subsequent scheme for adjusting the spacing between the impulses. The combined adaptive input shaping scheme provides the most rapid slew that results in a vibration-free output; experimental results for a single flexible link are presented to verify the technique.

Original languageEnglish (US)
Pages (from-to)114-121
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Issue number2
StatePublished - Jun 1993

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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