Reducing vibration and providing robustness with multi-input shapers

Input shaping is a command generation method that creates commands that result in low levels of residual vibration. This paper introduces new methods to design input shapers for multi-input systems. To justify the new methods, the multi-input vector diagram is used. Multi-input shaping design procedures are introduced that result in shapers that use secondary actuators to reduce vibration and increase robustness to modeling errors. Simulations of a nonlinear mobile tower crane model are used to illustrate the proposed method.