Anti-swing control of the crane system based on input shaping technique

This paper proposes a control technique based on classical control theory and feedforward input shaping technique for anti-swing control of the crane system considering for the complexity, insufficient performance and laborious controller realization of the traditional close-loop control strategy. Firstly, basic mathematical model of the crane system is established, and then servo control system for the derived simplified model is designed adopting classical control theory. Secondly, input shaping technique is introduced to the servo control system and anti-swing ZV input shaper is obtained. Finally, simulation in MATLAB environment validates the proposed control technique.