Input shapers for reducing overshoot in human-operated flexible systems

Input shaping is a command generation method for creating commands that result in low levels of residual vibration. The vibration reduction is accomplished by slightly increasing the acceleration and deceleration periods of the command. The increase in the deceleration period can lead to system overshoot. This paper presents a new class of Zero Overtravel (ZO) input shapers that are designed to reduce shaper-induced overtravel from human-operator commands. During the development of these new shapers, an expression for shaper-induced overtravel is introduced. This expression is used as an additional constraint in the input shaper design process to generate the ZO shapers. Experiments from a portable bridge crane verify the theoretical predictions.