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Robustness analysis of super-robust and adaptive algorithm of input shaping


[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ D ] phd student

Year of publication


Published in

Poznan University of Technology Academic Journals. Electrical Engineering

Journal year: 2015 | Journal number: Issue 83

Article type

scientific article

Publication language


  • adaptive input shaping
  • super-robust input shaping
  • crane positioning
  • oscillation avoidance

EN Many mechanical systems are characterized by flexible joints. One of the main problems in control of this kind of devices are the mechanical oscillations. To avoid the problem of vibrations the input shaping method might be used. For the systems with variable parameters the standard methods of simple input shaping are insufficient and non-robust. More complicated algorithms, exemplary super-robust, can be used, but have negative influence on the regulation time. The alternative method is an adaptive algorithm of input shaping. Both methods are compared on the crane system with variable load mass and line length. The algorithms of system parameter changing are executed with variable speed. The research was made in Matlab/Simulink environment.

Pages (from - to)

195 - 202

Presented on

Computer Applications in Electrical Engineering 2015, 20-21.04.2015, Poznań, Poland

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