Abstract
In this paper, a model reference input shaping (MRIS) control will be formulated for a luffing dynamics of a rotary crane system with a time-varying rope length. The newly established technique is able to completely suppress the residual vibration for a highly nonlinear time-varying system. The basic idea of the proposed approach is to obtain a reference oscillation from a second-order time-invariant linear system, on which the standard input shaping control is applied. The MRIS control law is then designed to exactly match the real vibration of the system with the reference oscillation. By such a means, an exact zero vibration suppression can be achieved for the actual system. The reference (or unshaped) command is parameterized to cope with control objectives other than the vibration suppression. Simulation results are provided to verify the superiority of the MRIS controller over the standard robust input shaping control method.
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