Input shaping with an adaptive scheme for swing control of an underactuated tower crane under payload hoisting and mass variations

• Main Authors: Mohamed, Zaharuddin, Fasih-Ur-Rehman, Syed Muhammad, Husain, Abdul Rashid, Abbasi, Muhammad Abbas, Jaafar, Hazriq Izzuan, Shaheed, Mohammad Hasan
• Format: Article
• Language: English
• Published: Academic Press 2022
• Online Access: http://eprints.utem.edu.my/id/eprint/26395/2/1-S2.0-S0888327022002746-MAIN.PDF; http://eprints.utem.edu.my/id/eprint/26395/; https://www.sciencedirect.com/science/article/pii/S0888327022002746

An underactuated tower crane exhibits a significant payload sway especially under three simultaneous motions involving trolley displacement, jib rotation and payload hoisting. This paper proposes an input shaper with an adaptive scheme for payload swing control of a tower crane under those effects t...