Adaptive input shaper for payload swing control of a 5-DOF tower crane with parameter uncertainties and obstacle avoidance

• Main Authors: Fasih ur Rehman, S. M., Mohamed, Z., Husain, A. R., Ramli, L., Abbasi, M. A., Anjum, W., Shaheed, M. H.
• Format: Article
• Published: Elsevier B.V. 2023
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/105417/; http://dx.doi.org/10.1016/j.autcon.2023.104963
• Institution: Universiti Teknologi Malaysia

This paper proposes an adaptive input shaper for swing control of a five degrees of freedom tower crane under various parameter uncertainties together with payload hoisting and simultaneous motions. The real-time adaptive mechanism is designed using neural network and the shaper parameters can be up...