Real time synthesis of UM shaper: Extension on explicit fractional derivative systems

Input shaping command is applied in order to reduce the system vibration. Desired systems inputs are elaborated so that the system finishes the requested evolution without residual vibration and with optimal response time. This approach was developed by N.C. Singer and W.P. Seering first by involving only positive impulses such as ZV (zero vibration) and ZVD (zero vibration derivative) shapers, then by using positive and negative ones like Negative ZV shaper and UM (unity magnitude) shaper. The last technique was extended to fit explicit fractional derivative systems. In this paper, UM shaper parameters are calculated in real time, first on second order systems, then on explicit fractional derivative ones. Simulation results are given.