This paper presents a nonlinear input shaping control scheme based on mullti-objective optimization, where both the residual vibration and the maneuvering time are minimized. Besides, to enhance the robustness of the proposed scheme, one proposes three robust methods, which are the square method, the differentiation method, and the extra insensitive method. To validate the proposed methods, a nonlinear system is used to demonstrate their control performances, where both the numerical simulations and experimental results are shown. The results show that the robustness of the proposed methods is much improved to compare with non-robust methods.
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