Design of Input Shapers for Residual Vibration Control of Flexible Systems and Optimization with Genetic Algorithm

The presented study focuses on designing and optimizing an input/command shaping technique that eliminates residual vibrations at different vibration frequencies for flexible systems used in various practical applications such as robotics, automation, aerospace, and defense industries. The study proposes an command shaper that combines Cycloid plus Ramp Versine plus Ramp functions with Zero Vibration (ZV) input shaper impulse sequences. The obtained command is optimized using a genetic algorithm to achieve the final motion profile. A novel multi-objective function is proposed, considering critical parameters of input shaping techniques for flexible systems. This multi-objective function design includes the robustness constraints of the Extra-insensitive input shaper. The effectiveness of the proposed approaches has been theoretically validated on a single pendulum gantry crane system. Three different case scenarios have been created, and it has been demonstrated that residual vibrations at different vibration frequencies have been successfully eliminated after optimization. Furthermore, the motion profiles obtained as a result of the optimization do not consist of pulse sequences.