Experimental Investigations of Input Shaping Schemes for Sway Control of a Gantry Crane System

This paper presents investigations into the implementation of input shaping schemes for anti-sway control of a gantry crane system. A lab-scale gantry crane is considered in the experimental work. An unshaped bang-bang input voltage is used to determine the characteristic parameters of the system for design and evaluation of the input shaping schemes. The input shaping schemes with different derivatives were designed based on the properties of the system. Implementation results of the response of the gantry crane with the input shaping schemes are presented in time and frequency domains. The performances of the input shaping are examined in terms of level of swing angle reduction, and time response specifications. Finally a comparative assessment of the input shaping schemes with different derivatives is discussed and presented.