Abstract
How to ensure anti-swing and adaptive control for cranes when used in complex outdoor environment such as docks is a difficult problem. Although the traditional PID control can solve the problem of robust adaptive and disturbance rejection very well, the quality of PID parameters depends too much on the experience of adjusting parameters or requires a lot of trial and error, so a new non-linear PID control method is proposed in this paper. The theory of prescribed performance control is introduced, and a non-linear closed-loop PID controller is designed based on the idea of performance function and error conversion of prescribed performance control. As the parameter adjustment is more flexible, the system has better robustness, adaptability and immunity to disturbance. Experiment results show that using the designed anti-swing strategy can effectively realise the anti-swing and it has excellent anti-interference ability.
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