{"id":2625,"date":"2026-04-06T15:11:06","date_gmt":"2026-04-06T07:11:06","guid":{"rendered":"https:\/\/iweb20wp-b205b.url.tku.edu.tw\/jase\/?post_type=tkuisotope&p=2625"},"modified":"2026-06-05T14:38:16","modified_gmt":"2026-06-05T06:38:16","slug":"a-modified-etm-shaper-for-double-pendulum-crane-control-with-payload-hoisting","status":"publish","type":"tkuisotope","link":"\/jase\/?tkuisotope=a-modified-etm-shaper-for-double-pendulum-crane-control-with-payload-hoisting","title":{"rendered":"A Modified ETM Shaper for Double Pendulum Crane Control with Payload hoisting"},"content":{"rendered":"\n
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<\/i> 2025<\/a><\/p>\n<\/div>\n\n\n\n

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<\/i> Volume 28, Issue 8<\/a><\/p>\n<\/div>\n\n\n\n

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Trong Hieu Do<\/i><\/a>, Minh Duc Nguyen, and Minh Duc Duong<\/p>\n\n\n\n

Hanoi University of Science and Technology<\/p>\n<\/div>\n\n\n\n

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Received: May 22, 2024
Accepted: September 16, 2024
Publication Date: April 6, 2026<\/p>\n<\/div>\n<\/div>\n\n\n\n

\"\u4e0a\u50b3\u5716\u7247\"\n\n\n

Impulse vector of ETM4 shaper<\/p>\n<\/div>\n<\/div>\n\n\n\n

<\/i> Copyright <\/strong>The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0)<\/a>, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.<\/p>\n\n\n\n

Download Citation:\u00a0 BibTeX <\/a>| http:\/\/dx.doi.org\/10.6180\/jase.202508_28(8).0010<\/a>\u00a0\u00a0<\/p>\n\n\n\n

Download PDF<\/a><\/p>\n\n\n\n

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Overhead cranes are widely utilized in various industries and for transporting goods. However, the vibrations generated during operation can significantly impact the safety and efficiency of crane work. This issue becomes more critical when dealing with large-sized loads that cannot be overlooked. In such cases, the crane exhibits a double pendulum-like behaviour, and the load vibrations become multi-frequency. This paper proposes an Active Disturbance Rejection Control (ADRC) controller to control the crane\u2019s position combined with the Equal Shaping Time and Magnitude (ETM) input shaping technique to suppress load swinging during lifting operations. Simulations and experiments were performed to confirm the validity of the proposed method.<\/p>\n\n\n\n

Keywords: Double-Pendulum Crane; ADRC; Input Shaping; Impulse Vector; Vibration Suppression<\/em><\/p>\n\n\n\n

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