and Applied Mechanics
54, 2, pp. 353-368, Warsaw 2016
Optimized re-entry input shapers
steps. Primarily, an optimized precomputed curve is found as a solution to the point-to-point control problem with respect to any requested optimization goals. Then it is transformed into an on-line shaper with the re-entry property. The resulting shaper transforms any arbitrary
input signal to a non-vibrational one. In contrast to other techniques, the shaper length is not determined from the system natural frequency. The shaper can be easily modified with respect to position, velocity, acceleration or jerk control. The theoretical results are verified by experiments using a laboratory crane.