### HYBRID POSITION AND VIBRATION CONTROL OF NONLINEAR CRANE SYSTEM

#### Abstract

*This paper presents comparative assessments of input shaping techniques using two different approaches, for sway reduction of cranes system. First, the shaper was designed at maximum load hoisting length while the second was designed at average load hoisting length. These were accomplished using curve fitting toolbox in MATLAB. In both case; Zero Vibration (ZV), Zero Vibration Derivative (ZVD) and Zero Vibration Derivative Derivatives (ZVDD) were designed. Average hoisting length (AHL) shapers performed better than the Maximum hoisting length (MHL) shapers. Proportional integral derivative (PID) was incorporated for position control. After successful implementation, Simulation results show that a precise payload positioning was achieved. AHL-ZVDD has superior performances in sway reduction and robustness.*

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