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

John Stergiopoulos, Antonios Tzes

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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 pay load 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.

Original languageEnglish (US)
Title of host publication12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings
Pages565-568
Number of pages4
DOIs
StatePublished - Dec 1 2007
Event12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 - Patras, Greece
Duration: Sep 25 2007Sep 28 2007

Other

Other12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007
CountryGreece
CityPatras
Period9/25/079/28/07

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Cranes
Time varying systems
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Stergiopoulos, J., & Tzes, A. (2007). An adaptive input shaping technique for the suppression of payload swing in three-dimensional overhead cranes with hoisting mechanism. In 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings (pp. 565-568). [4416819] https://doi.org/10.1109/EFTA.2007.4416819

An adaptive input shaping technique for the suppression of payload swing in three-dimensional overhead cranes with hoisting mechanism. / Stergiopoulos, John; Tzes, Antonios.

12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings. 2007. p. 565-568 4416819.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Stergiopoulos, J & Tzes, A 2007, An adaptive input shaping technique for the suppression of payload swing in three-dimensional overhead cranes with hoisting mechanism. in 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings., 4416819, pp. 565-568, 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007, Patras, Greece, 9/25/07. https://doi.org/10.1109/EFTA.2007.4416819
Stergiopoulos J, Tzes A. An adaptive input shaping technique for the suppression of payload swing in three-dimensional overhead cranes with hoisting mechanism. In 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings. 2007. p. 565-568. 4416819 https://doi.org/10.1109/EFTA.2007.4416819
Stergiopoulos, John ; Tzes, Antonios. / An adaptive input shaping technique for the suppression of payload swing in three-dimensional overhead cranes with hoisting mechanism. 12th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2007 Proceedings. 2007. pp. 565-568
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