A smooth multimode waveform command shaping control with selectable command length

Input and command shapers are great open-loop control strategies in reducing residual vibration in rest-to-rest maneuvers. The generation of such command usually contains multiple impulses and jerks. Multiple impulses usually degrade the performance due to actuation delay and mismatch timing while jerks reduce the life expectancy of actuator and increase maintenance. In this work, a smooth single multimode command shaping control is proposed and tested numerically and experimentally to eliminate residual vibration in rest-to-rest maneuvers. The advantages of the technique are summarized as, the proposed technique has an adjustable maneuvering time, can eliminate all vibration modes regardless of the number, the required parameters are found analytically which eliminate the need of complex or lengthy calculation needed for most multimode shaper, smooth command profile to eliminate jerks i.e. inrush current, and it is continuous with single actuation to eliminate inaccurate timing and delay. The technique performance is validated numerically and experimentally. Numerical simulations prove that the shaped commands are capable of completely eliminating residual vibrations of multimode systems. Furthermore, the proposed technique is utilized to reduce the sensitivity of the shaper to modeling errors. Unlike other shaper the proposed reduction in the sensitivity can be implemented for all modes with no added complexity.