Command shaping with reduced maneuvering time for crane control

This study introduces a modified near-time-optimal rigid-body command that represents the fastest possible command profile based on using the full input capabilities of the system, considering rest-to-rest motion. The control objective is to have the shortest maneuvering time suitable for handling insensitive payloads. The rest-to-rest motion is divided into three stages. The first stage includes a quick response with maximum trolley acceleration. The second stage involves cruising at the maximum trolley velocity. The third stage provides deceleration, where both zero vibration and the zero vibration derivative are applied. The proposed shaper is simulated numerically for testing its performance. The theoretical findings were validated experimentally using a prototype crane. This study's major finding demonstrates that the new technique succeeded in reducing the maneuvering time with zero vibration at the end of the motion. Moreover, the results show the insensitivity of the proposed shaper to variations in system parameters using a zero vibration derivative shaper.