Crane payloads are frequently subject to oscillations induced through intentional movement and external disturbances. These oscillations degrade performance and can be dangerous. Input shaping is an effective method to move cranes without creating oscillation, however it is not effective on initial swing. This paper develops a feedback control system with two operation modes based on input shaping. They allow a crane operator to remove initial oscillations, while retaining control over the crane movement direction. The system is shown to be simple to implement, and the effectiveness of the two operation modes is verified experimentally on a small-scale bridge crane.

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