Abstract
The tower crane is widely used in construction and transportation engineering. To improve working efficiency and safety, input shaping methods have been applied. Input shaping is a method of reducing residual vibration of flexible systems by convolving a sequence of impulses with unit step command. However, input shaping is based on the linear system theory in which its control performances are degraded, in case of nonlinearity and unmatched dynamics of the control systems. In this paper, a new optimal reference input shape design method based on minimizing cost function is suggested and applied, to a simple cart-pendulum system which is a simplified model of tower cranes. Since pendulum dynamics is nonlinear, analytic solution does not exist. To overcome this problem, in this paper, a machine learning approach is suggested to find optimal reference input shape for the cart position control. The feasibility of the proposed design method is verified through some simulation examples by using MatLab.
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