Input shaped control of a planar gantry crane with hoisting

摘要

The dynamic behavior of a planar gantry crane with hoisting of the load is investigated. The feedforward technique of input shaping is proposed for reduction of the residual vibration. Several versions of input shaping are evaluated and compared with time-optimal rigid-body commands over a wide range of parameters. Input shaping offers significant reduction in both, the residual and transient oscillation.