Feed-forward delay-based input shaper confrontation with active feedback control

Abstract

The main focus of this paper is confrontation and summarize advantages and disadvantages of a passive feed-forward control based on impulse input shapers and active feedback approach for vibration control design for flexible structures [5], [10] like robotics arms, flexible beams, manipulator [11], [14], and so on. ZV, ZVD, EI [2], [6], [7] and other input command shapers have been studied for last two decades and have given rise to many papers and applications oriented on feed-forward, non-measurable disturbances vibration reduction in machines controlled by computer. The main advantages are optimal response, in a sense of dead beat compensation, with the fastest response respect to bounded actin command and easy implementation.