Anti-sway control of a tower crane using inverse dynamics

Cranes are used to move loads from one location to another in minimum time such that the load reaches its destination without swinging. The tower crane model is an underactuated mechanical system having four degrees of freedom with only two actuators. The main purpose of the controller is input tracking of the tower crane to the desired position while maintaining a small swinging angle. This paper investigates the response of a tower crane using input shaper. Then the response of the input shaper is compared to a controller based on inverse dynamics.