Comparison of Extrainsensitive Input Shaping and Swing-Angle-Estimation-Based Slew Control Approaches for a Tower Crane

Tower cranes are needed to move heavy objects safely around construction sites. In tower cranes, payload oscillations a typical problem that can cause safety issues, especially if the crane is not operated by an experienced user. Depending on system, there different causes for oscillations, e.g., inertial forces from movement or external forces, such as weather conditions. Hence, selected control law input tracking plays important role limit oscillatory motion and help operator prevent unwanted operations. this paper, we study slew of application viewpoint reducing oscillations. Two approaches studied: open-loop based extrainsensitive shaping closed-loop swing angle control, estimation hoist cable angle. The proposed validated running developed program against multibody mechanics simulator containing model Liebherr crane. studied laws also evaluated using experimental setup, which consists two-axis manipulator, inverters, programmable logic controller in methods implemented. results dynamics simulations setup presented operation.