A modified method for multiple actuator input shaping

Input shaping is a feedforward technique that is used to eliminate system vibration. It is commonly a set of impulses that is convolved with the input. Typically the constraints used to design a shaper are dependent solely upon the frequency and damping of the system. When a system contains multiple inputs and multiple modes, only using the frequency and damping of the system requires one to use the same input shaper for each input. When considering that each input affects the system differently, it could be possible to develop a set of input shapers using the input parameters that would be of shorter duration and have fewer impulses. A multi-input, multi-mode technique has recently been developed which uses the input parameters of a system. The goal of this paper is to introduce a modified approach to this method that yields shorter shapers, leading to faster manoeuvres