The control of flexible systems is a broad and active field of research due to the prominence and innate challenge of controlling complex systems in demanding environments. One well-proven technique for eliminating vibration in such systems is the implementation of a command shaping technique called input shaping. By designing a command which quickly performs a desired move without exciting oscillatory dynamics, input shaping is an excellent means of efficiently controlling vibration. This approach is also useful in mitigating vibration due to known force disturbances to a system if they are considered as initial conditions. Although unable to account for unknown disturbances by itself, input shaping can be implemented alongside a feedback controller to account for such externalities. This thesis presents new techniques to advance the state of the art in input shaping control to account for both known and unknown disturbances.
|Advisor:||Vaughan, Joshua E.|
|Commitee:||Chambers, Terrence L., Gottumukkala, Raju|
|School:||University of Louisiana at Lafayette|
|School Location:||United States -- Louisiana|
|Source:||MAI 58/05M(E), Masters Abstracts International|
|Subjects:||Engineering, Mechanical engineering|
|Keywords:||Crane control, Input shaping, Vibration|
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