Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: Design, simulation and experiment

• Main Authors: Jaafar, H. I., Mohamed, Z., Ahmad, M. A., Wahab, N. A., Ramli, L., Shaheed, M. H.
• Format: Article
• Published: Academic Press 2021
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/95300/; http://dx.doi.org/10.1016/j.ymssp.2020.107358

This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has an advantage in achieving an accurate trolley positioning, with low hook and payload oscillations, under various desired trolley po...