Input Shaped Control of a Gantry Crane with Inertial Payload

Minimum time control of a gantry crane system with rate constraints

“…Li et al [42] introduced an online planning method for minimum-time control of overhead cranes. Furthermore, many papers considered the payload as a point mass whereas Stein and Singh [43] proposed an input shaper used in conjunction with a proportional-derivative controller for a crane with an inertial payload. Other work has considered sliding mode [44,19,45], adaptive control [46], discrepancy-based control [47] and compared different control strategies [48] while including various external disturbances on cranes.…”