Tower crane vibration suppression using generalized input shaping

C. H. Ko, Jin-Chern Chiou*, C. Y. Gau, S. S. Lee, W. T. Chang

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


In this paper, an efficient control scheme, based on using generalized input shaping (GIS), is proposed to minimize the payload oscillation in operating a tri-axial tower crane. Generalized input shaping uses the tri-axial inputs in the pulse-coast-pulse form to effectively reduce payload's residual oscillation. Furthermore, a genetic algorithm (GA) is employed to search for the optimal GIS input and the minimum oscillation. To increase the search efficiency of the GA, strategies like population-elitist scheme, operator probabilities adaptation, and five-point crossover are utilized. The experimental results show that the optimal GIS inputs can effectively reduce payload oscillation by suppressing the vibration angle to less than 0.5 degree, demonstrating the effectiveness of the proposed scheme.

Original languageEnglish
Pages (from-to)38-43
Number of pages6
JournalInternational Journal of Fuzzy Systems
Issue number1
StatePublished - 1 Mar 2004


  • Genetic Algorithm
  • Input Shaping
  • Tower Crane
  • Vibration Suppression

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