Large payloads hoisted by overhead cranes exhibit the same behavior as that of a double-pendulum.Changes in the hoisting cable length during payload transfer maneuvers give rise to time-dependent system frequencies rendering input-shaped commands ineffective.In this paper, a frequency-modulation input-shaping strategy click here that enables simultaneous hoist and travel maneuvers using single-mode input-shaping is presented.This strategy utilizes model-based feedback and partial feedback linearization techniques.Simulations are sophie allport bee curtains carried out using arbitrary travel and hoist commands combined with the common single-mode zero-vibration (ZV) and zero-vibration-derivative (ZVD) input-shapers.
Sensitivity analysis reveals robust performance in the presence of high system uncertainties.