Nonlinear-adaptive-based swing reduction control for rotary cranes with double-pendulum effect considering uncertain parameters and external disturbances

Abstract

Achieving both boom positioning and swing reduction becomes more difficult when rotary cranes display double-pendulum characteristic in dynamics. Moreover, in actual application, the model uncertainties and external disturbances always affect the control performance. To solve these problems, an adaptive nonlinear control method is designed. Through a large number of strict simulation verification of the above control methods, the following results can be obtained: Aiming at the research problems of model uncertainty and the existence of external disturbances, it reflects excellent control performance and strong robustness. Furthermore, the above results show that the proposed control method not only has important theoretical value, but also has practical engineering significance. Finally, the paper conducts follow-up research from the following directions: On the one hand, Lyapunov technology is used to design the controller; on the other hand, LaSalle's invariance theorem is used to analyze the stability of the closed-loop system.