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In this paper, a general command shaping-based control law is designed for an overhead crane system with time-varying cable length that follows a specific path plan. The path plan can be generated from any path planning method. The proposed feedforward control method employs a waveform command shaper design. In this new approach, the standard waveform command shaper is applied on an undamped linear time-independent second-order dynamical system. This step provides us with reference oscillation output that is guaranteed to equal zero after the trolley stops. The real control input is then devised to perfectly match the real vibration of the crane system with reference oscillation, and hence vibration-free transportation can be achieved. The unshaped command is parameterized, and its coefficients are calculated using numerical analysis. This new command shaper is designed to deal with control objectives specifically the payload vibration elimination during hoisting maneuvering for obstacle avoidance. The simulation results are provided to validate the performance of the proposed approach.

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Payload Path Planning of Overhead Crane System Using Waveform Command Shaping to Eliminate Payload Residual Vibration and Obstacle Avoidance

  • 会议论文

  • 发表日期：

    2026年

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  • Mohammad A. Alfares,
  • Khaled A. Alhazza

摘要

In this paper, a general command shaping-based control law is designed for an overhead crane system with time-varying cable length that follows a specific path plan. The path plan can be generated from any path planning method. The proposed feedforward control method employs a waveform command shaper design. In this new approach, the standard waveform command shaper is applied on an undamped linear time-independent second-order dynamical system. This step provides us with reference oscillation output that is guaranteed to equal zero after the trolley stops. The real control input is then devised to perfectly match the real vibration of the crane system with reference oscillation, and hence vibration-free transportation can be achieved. The unshaped command is parameterized, and its coefficients are calculated using numerical analysis. This new command shaper is designed to deal with control objectives specifically the payload vibration elimination during hoisting maneuvering for obstacle avoidance. The simulation results are provided to validate the performance of the proposed approach.