An Iterative Learning Control Technique for Point-to-Point Maneuvers Applied on an Overhead Crane

Figure 4

Simulations and experiments on a simple pendulum for 𝑚=0.21kg and variable hoisting cable length.

(a) Maneuver profile

(b) ILC and TORB acceleration profiles

(c) Oscillation angle of the hoisting cable

(d) Residual oscillation sensitivity