Command shaping for suppression of end-point oscillations of a circular cylinder maneuvering under-water

This paper discusses the command shaping technique for suppression of end-point oscillations (residual vibrations) of a circular cylinder transported under-water. Experimentation has been carried out to study the dynamic response of the cylinder by transporting it in still water following a straight path with a constant velocity, showing that the cylinder exhibits end-point oscillations at the target location. In this paper, the end-point oscillations have been simulated to match the experimental response, giving the information required for designing the command shaping control. Shaped velocity profiles have been generated using command shaping to transport the trolley, and it has been validated by experimentation that end-point oscillations have effectively been suppressed by using the command shaping technique.