Comparison of anti-vibration control structures for single pendulum cranes

The practical implementation of feedback-based anti-sway control for overhead cranes is often constrained by sensor noise, high installation costs, and harsh operating environments, driving a shift toward simple, sensor-less solutions. Consequently, established techniques such as Input Shaping and Notch filtering are widely utilized; however, existing studies typically investigate these methods in isolation, leaving the comparative performance of their structural integration unexplored. To address this gap, this paper presents a comparative study of anti-vibration control structures for single pendulum cranes, focusing on mathematical modeling and experimental validation.Three input shaping techniques, including Zero Vibration (ZV), Distributed Zero Vibration (DZV), and Notch filters, are applied across three distinct control architectures: external, internal, and inverse. The results indicate that the ZV structure achieves the fastest settling time, while the DZV demonstrates superior sway suppression and stability. The Notch filter, while slower, provides additional robustness under disturbances. This comprehensive evaluation clarifies the advantages and performance characteristics of each method, helping to improve the control of the load sway in overhead cranes.