Residual vibration control of underwater systems moving underwater using command shaping technique

Input shaping is a feed-forward control technique which is used for generating shaped commands to suppress the residual vibrations of a system. In this paper, an underwater weight positioning system (WPS) and a fuel handling system have been considered as a pendulum system. It has been simulated to match the experimental response, giving the information required for designing the input shaper. A zero vibration (ZV) shaper has been designed to suppress the residual vibration. Underwater experiments have been implemented by transforming the payload straight in the water with command velocity. A trapezoidal controller has also been used to compare with the ZV shaper. The effectiveness and applicability of each method have been analyzed through experimental results.