Vibration suppression of cart-pendulum system by combining the input-shaping control and the position-input position-output feedback control

Abstract

This study is concerned with the active vibration control of a cart-pendulum system. The input-shaping control alone is not sufficient to suppress vibrations of the cart payload, especially when external disturbance is present. In order to solve this problem, a new control technique consisting of the input-shaping and the position-input position-output feedback controls is proposed. The input-shaping control minimizes vibrations during cart motion and the position-input position-output feedback control takes charge of suppressing residual vibrations after the cart reaches the desired position. The stability of the proposed position-input position-output feedback control was investigated theoretically. The testbed was built to validate the proposed method. It was proved both theoretically and experimentally that the proposed control technique can be successfully used to control vibrations of the pendulum.