Comparing the performance of sway control using ZV input shaper and LQR on gantry cranes

• Main Authors: Alhassan, Ahmad, Danapalasingam, Kumeresan A., Shehu, Muhammad, Abdullahi, Auwalu M., Shehu, Auwal
• Format: Conference or Workshop Item
• Published: 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/60827/; http://ieeexplore.ieee.org/document/7725299/

This paper presents the investigation into the performance of ZV input shaper and LQR for sway control of a non linear gantry crane systems. The non linear model of the system was derived using the Lagrangian energy equation and then linearized using Taylor's series expansion. ZV input shaper w...