Robust input shaping for anti-sway control of aerial working platform of folding arm mode

On the actual condition of the aerial working platform of folding arm mode, employing the second Lagrange equation, the mathematical model is derived. The swaying of the platform is studied. Traditional positive input shapers, UM and PS input shapers are introduced. EI positive, UM-EI, PS-EI input shapers are chosen to serve for this paper. The anti swaying ability of the three EI input shapers is studied. The simulations show when accurately modeling, the effect of all three EI input shapers for anti-swaying can reach permitted requirement, and when there exists modeling error(20%), only EI positive input shaper achieved the desired results, but it´s response time is more longer than the other two EI input shapers.