Abstract
This paper presents a reference management considering suppression of vibration for two-dimensional (2-D) transfer system. In this paper, the reference is generated by using sequential quadratic programming which minimizes cost function as the tracking error between target point and cart trajectory, and energy of band for fluctuating resonance frequency. The proposed method is able to design 2-D free track which suppresses the vibration, and satisfies constraints of system by nonlinear constraint. The effectiveness of the proposed control is shown through various experiments in a liquid container transfer.
