Experimental verification of an adaptive input shaping scheme for hoisting cranes

The aim of this paper is the presentation of an adaptive input shaping technique suitable for overhead cranes with hoisting mechanism. The main goal is the minimization of the remaining oscillations when the motion of the trolley and the hoisting of the load are performed simultaneously. While standard input shaping theory can be applied in its standard form in classical cranes, the shaper configuration when the load is hoisted is not profound. The adaptive version proposed calculates the parameters of the shaper online depending on the updated linearized model and the current rope length. Experimental results show the benefits of the proposed controller contrary to standard input shaping and to unshaped responses.