An adaptive input shaping technique for the suppression of payload swing in three-dimensional overhead cranes with hoisting mechanism

In this paper, an adaptive input shaping technique is proposed and implemented on a three-dimensional overhead crane with hoisting mechanism. The main goal is the maximum possible suppression of the oscillations of the payload induced during both the trolley motion and the hoisting of the load. Standard input shaping techniques cannot take into account the hoisting contrary to the adaptive version, where the shaper´s parameters are reconfigured in each loop according to the updated linearized model, dependent on the current rope length. Simulation results show the efficacy of the proposed controller compared to standard shapers when applied to this kind of time-varying systems.