Input Shaping Control of an Overhead Crane with Time-varying Cable Length using a Generalized Input Shaper

In this brief, a new input shaping-based control law is proposed for an overhead crane with time-varying cable length. The proposed approach can accommodate a generalized input shaper and general hoisting motions. It will be shown that a non-robust input shaper can be used within the established scheme to completely suppress residual vibration at the completion of a maneuver, outperforming the standard (robust) input shaping controllers. Simulation results are provided.