Abstract
Input shaping control for a planar gantry crane with load hoisting is investigated. The swinging motion after a move limits the performance of the system to do subsequent job. To reduce the residual vibration (swinging motion), a modified input shaping technique is used. The technique is easy to implement and does not require feedback of adaptive controller since it is a kind of feedforward method. The modified input shaping method offers more significant reduction in the swing angle of the gantry system, compared to those of the conventional and robust conventional methods.
