Research Article
Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation
Figure 10
Simultaneous travel and hoisting maneuver using FM shaped command.
(a) ZV payload trajectory |
(b) ZVD payload trajectory |
(c) ZV + FM and hoist accelerations |
(d) ZVD + FM and hoist accelerations |
(e) ZV + FM payload oscillations |
(f) ZVD + FM payload oscillations |