Command shaping of a boom crane subject to nonzero initial conditions

Input shaping is an open-loop command shaping method that has been used on a wide variety of flexible systems. It has been shown to be particularly useful in the control of cranes. However, most previous research on the use of input shaping has been limited to rest-to-rest commands. Because input shaping is open-loop, it is inherently incapable of eliminating existing, unknown vibration in a system. This paper will expand on prior research that has shown the feasibility of using input shaping to eliminate nonzero initial conditions. Particularly, the elimination of these conditions from a boom crane will be considered. Computer simulations support the effectiveness of a simple input shaping technique to accomplish nonzero initial condition elimination from a planar boom crane undergoing a luff command.