A New Trajectory Optimizing Method Using Input Shaping Principles

A New Trajectory Optimizing Method Using Input Shaping Principles

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better waters xl7000 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 kicker pro comp 10 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.