An optimized shaped command of overhead crane nonlinear system for rest-to-rest maneuver

Abstract

Payload oscillation suppression of an overhead crane system with non-zero initial conditions and large swing angle is a challenging problem, due to the system’s nonlinearity. An optimized input shaper using a multi-objective genetic algorithm strategy is proposed in this work. The purpose of the proposed method is to minimize residual vibrations in the crane payload resulting from moving the payload from one position to another, starting from non-zero initial conditions. Multiple input acceleration steps are fed to the crane jib to provide the optimized motion. The system is modelled as a single pendulum of constant cable length. The results show that the proposed method is able to regulate the system, satisfy the system conditions and constraints, and to minimize the residual vibration to the least values.