Vibration Control of a Nonlinear Double-Pendulum Overhead Crane Using Feedforward Command Shaping

This paper proposes an alternative feedforward command shaping for vibration control of a nonlinear double-pendulum overhead crane system. The proposed feedforward shaper is designed based on a model reference and without the need for the damping ratio and natural frequency of the crane system. The effectiveness of the shaper is studied using a laboratory overhead crane. Experimental studies show that the proposed shaper resulted in lower overall hook and payload oscillations under different cases of cable lengths as compared with multiple single-mode input shapers.