Oscillation Control of a Double-Pendulum Overhead Crane based on Model-Matching Input Shaping Technique

In this paper, a model-matching input shaping controller will be designed for a double-pendulum overhead crane with time-varying cable length. It will be demonstrated that the propagation of vibration suppression allows us to eliminate oscillations for both pendulums, even though only one reference model is permitted. Comparative simulation results are presented to highlight the advantage of the proposed approach over the standard input shaping controller. An experimental study is also conducted on an actual crane.