Rapid and restricted swing control via adaptive output feedback for 5-DOF tower crane systems

Abstract

Crane swing & relevant vibration are critical safety and efficiency issues to be addressed in construction automation, involving various disturbance and uncertainties. This paper presents for the first time a controller designed for 5-DOF tower crane systems with no velocity signals, and its effectiveness is experimentally verified. Compared to previous controllers, the new design utilizes an adaptive output feedback control method with accurate online gravity compensation, which solves the problems of unavailability velocity, noise amplification by numerical difference, and steady state error of cable in tower crane control. Additionally, the saturated control inputs are guaranteed by employing bounded functions. The results of this study unveil that the controller proposed in this paper can simultaneously achieve accurate trolley/jib/cable positioning, rapid payload swing suppression and elimination, as well as precise payload mass estimation, and guarantee control inputs constraints. This study provides a new approach for accurate control of tower crane systems.