A New Robust Command Shaping Method and Its Application in Quadrotor Slung System with Varying Parameters

Abstract Command shaping method is a mature feedforward control approach, and there exist many successful applications in the industrial fields. However, the traditional instruction shapers either are sensitive to the system parameters, or have some robustness but difficult to adjust the parameters, and meanwhile their conservations are increased unsurprisingly. To this end, a new robust command shaper is proposed in this paper, which is inspired by the two-mode ZV shaper and the EI shaper. The theoretical design procedure of the new shaper is presented. Besides, the robustness of the new shaper is analyzed and compared with other shapers based on the sensitivity curve. Finally, the shaper proposed in this paper is applied to the quadrotor slung system with varying parameters, and its effectiveness and superiority are proved by numerical simulations and comparative analyses.