Vibration Suppression for a Class of Flexible Manipulator Control with Input Shaping Technique

The input shaping method has been applied to the control of many types of flexible systems. Input shaping is a simple and effective method for reducing the residual vibration when positioning lightly damped systems. A feedback linearization combined with input shaping control approach is proposed for flexible manipulators in this paper. The dynamics of single link flexible manipulators is partially linearized using feedback linearization scheme. Meanwhile, the control scheme is combined with an input shaper for vibration suppression. The reference input signals are pre-shaped to suppress the tip vibration. Simulation results have confirmed the effectiveness of the proposed control method