Application of Model Estimation-Based Input Shaping Technique in Tower Crane Control Design

This paper proposes a solution to address the limitations of input shaping techniques in tower cranes. To overcome the dependence on precise mathematical models of second-order systems associated with input shaping methods, this paper proposes an input shaping algorithm based on the Extended State Observer (ESO) for model estimation. A closed-loop control scheme based on ESO is combined to overcome the issues caused by open-loop control of input shaping. The improved input shaping technique is applied to the control of tower crane to improve displacement tracking accuracy and suppress load swing angles. Finally, simulation results validate that the proposed control method effectively suppresses load swing and exhibits strong robustness.