@inproceedings{f8ba896530b24d0c8ace1f06021301cb,
title = "Input Shaped Control of a Gantry Crane with Inertial Payload",
abstract = "The focus of this work is on the development of a model for a gantry crane transporting a non point-mass payload such as pipes, where besides the payload swinging, includes the twisting motion also, which can be hazardous if not adequately controlled. Euler-Lagrange equations of motion are derived which permit accounting for payloads whose center of mass does not coincide with the hoisting cable attachment. Work-Energy principle is used to ensure that a collocated Proportional-Derivative (PD)-controller is stabilizing and an input shaper is used to shape the reference profile to permit minimal residual vibration of the payload.",
keywords = "Gantry Crane, Input Shaper, Vibration Control",
author = "Adrian Stein and Tarunraj Singh",
note = "Publisher Copyright: {\textcopyright} 2022 American Automatic Control Council.; 2022 American Control Conference, ACC 2022 ; Conference date: 08-06-2022 Through 10-06-2022",
year = "2022",
doi = "10.23919/ACC53348.2022.9867494",
language = "English",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "4127--4132",
booktitle = "2022 American Control Conference, ACC 2022",
address = "United States",
}