Combination of modified negative input shaping and optimal control for vibration suppression

A new vibration reduction control strategy was presented. With it,the modified negative input shaping( MNIS) technique was combined with the optimal control method for active vibration control of flexible systems,such as, a flexible manipulator. An optimal state feedback controller was designed for the flexible manipulator maneuver and its vibration eliminating. To improve the performance of vibration control and reduce the system response time duration,a modified negative input shaper was used as a feed-forward controller,it was designed to utilize the vibration frequency and damping ratio of the whole closed loop system with a linear quadratic regulator( LQR). Combining the feed-forward control and feedback control and utilizing the respective advantages,the performance of the control system can be improved. Both analytical and numerical results were presented to demonstrate the effectiveness of the hybrid control strategy. It was shown that the proposed method can be used to reduce the time delay of the system's response and increase the response speed of the system.