Modified input shaping for circular trajectory following

Input shaping for circular trajectory following through a second-order system usually results in a smaller than desired radius. The reasons of this smaller radius by using input shaping are investigated in this paper. A coefficient with two parts is found to correct this effect. Using this coefficient to modify the input shaper, better performance of applying input shaping to circular trajectory following is achieved. Simulation is made to show the effect of input shaping and the use of the developed coefficient.

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