Investigation of the robustness of a novel input preshaping vibration control technique

This work presents a study on the robustness of a novel preshaping command input method for vibration control of moving flexible structures. The methodology is based on a time-parameterised B-spline approach, with control points determined by solving a linearly constrained quadratic optimisation. The objective function minimises the vibrational energy, while the constraints set the kinematic limits of the motion control. Two case studies are considered to investigate the robustness and performance of the proposed method with respect to modelling errors: a triple pendulum on a cart and a rotating Euler-Bernoulli beam. The models are implemented in a Modelica language to simulate the virtual system response under varying operating conditions.