Designing of a Command Shaper Using Multi-Objective Particle Swarm Algorithm for Vibration Control of a Single-Link Flexible Manipulator System

Abstract

A new command shaping method is proposed using gain and delay units to shape the reference 
input in order to reduce vibration of a single-link flexible manipulator system. The values of gain 
and delay elements can be derived analytically with a priori knowledge of natural frequencies and 
associated damping ratios of the system, which may not be available for complex flexible systems. 
Moreover, command shaping in principle causes delay in system's response while it reduces system 
vibration and in this manner the amount of vibration reduction and the rise time conflict one another. 
Assuming that, no prior information is available about the system, a new multi-objective particle 
swarm optimisation (MOPSO) algorithm is applied to optimise the gain values and the amount of 
delay in order to provide a wide range of solutions that trade-off these conflicting objectives so 
as to satisfy design goals.