Cranes have been used for transport of material since antiquity. Modern cranes still share some characteristics with the ancients, namely payload oscillation. As such, there has an extensive research effort to control crane payload vibration, resulting in the development of many effective methods. This paper compares two popular methods of crane vibration control, feedback control and input shaping. In addition to showing that both of these methods can dramatically reduce payload oscillation, one primary measure used in this comparison is energy use. The differing nature of the control methods is shown to result in different energy use profiles. This is shown to be true even for when the payload responses for the two controllers are similar.

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