u/AccordingAsparagus37

As a part of my masters thesis i am trying to design a input shaping algoritm that dampens vibrations at the systems resonance frequency in real time. As a payload is picked up the resonance will change and i want to capture that change and adapt the input shaping to that frequency. Changing the period time of a input shaper mid movement creates a non-continous position trajectory and i want to avoid that. Has anyone run into this problem? My thought is to shape in velocity instead because during a constant velocity phase the period time can be changed but that introduces the problem of controlling a motor to end at the right position using velocity.