Distributed delay adaptive output-based command shaping for different cable lengths of double-pendulum overhead cranes

This paper presents a new robust combined command shaping for effective hook and payload sways reduction of double-pendulum overhead crane. Double-pendulum overhead crane is highly nonlinear under actuated system. A distributed delay adaptive output-based command shaping is proposed in this work for effective and efficient control of hook and payload sways. Simulations and experimental results were obtained to investigate the performance of the proposed control, as compared to Adaptive output-based command (AOC) shaper and Distributed delay input shaping (DZV). The performance of the proposed control was measured based on Mean Absolute Error (MAE) values. The proposed method reduced the MAE values by 81.85%, 74.60% and 85.17%, 78.79% as compared to the DZV and AOC for hook and payload sways, respectively. Similar, results were observed in the experiments, where the proposed method has reduces the MAE by 64.22%, 58.15% and 59.00%, 52.14% as compared to the DZV and AOC for hook and payload sways, respectively. These results show that the proposed control is highly effective and efficient for both hook and payload sway controls as compared to AOC and DZV acting alone.