TY - GEN
T1 - Advantages of using command shaping over feedback for crane control
AU - Vaughan, Joshua
AU - Maleki, Ehsan
AU - Singhose, William
PY - 2010
Y1 - 2010
N2 - Cranes are the primary heavy lifters for a wide variety of industries. However, all cranes share the same important limitation on efficiency: payload oscillation. Given the significance of cranes, it is not surprising that a large amount of research has been dedicated to eliminating this oscillation. Much of this research has been directed toward feedback control methods. Another portion of the work has focused primarily on command-shaping methods. This paper explores the problems with using feedback for crane control, which include the difficulty in sensing the crane payload, widely varying system dynamics, and human-operator compatibility. In light of these problems, input shaping is shown to be a favorable solution.
AB - Cranes are the primary heavy lifters for a wide variety of industries. However, all cranes share the same important limitation on efficiency: payload oscillation. Given the significance of cranes, it is not surprising that a large amount of research has been dedicated to eliminating this oscillation. Much of this research has been directed toward feedback control methods. Another portion of the work has focused primarily on command-shaping methods. This paper explores the problems with using feedback for crane control, which include the difficulty in sensing the crane payload, widely varying system dynamics, and human-operator compatibility. In light of these problems, input shaping is shown to be a favorable solution.
UR - http://www.scopus.com/inward/record.url?scp=77957806881&partnerID=8YFLogxK
U2 - 10.1109/acc.2010.5530548
DO - 10.1109/acc.2010.5530548
M3 - Conference contribution
AN - SCOPUS:77957806881
SN - 9781424474264
T3 - Proceedings of the 2010 American Control Conference, ACC 2010
SP - 2308
EP - 2313
BT - Proceedings of the 2010 American Control Conference, ACC 2010
PB - IEEE Computer Society
ER -