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

• Main Authors: Ur Rehman, S. M. Fasih, Mohamed, Zaharuddin, Husain, A. R., Jaafar, Hazriq Izzuan, Shaheed, M. Hasan, Abbasi, Muhammad Abbas
• Format: Article
• Published: Elsevier Ltd 2022
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/103138/; http://dx.doi.org/10.1016/j.ymssp.2022.109106

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...