Prescribed Performance Adaptive Tracking Control for Double-pendulum Tower Crane Systems
Due to a variety of factors,tower cranes often exhibit double-pendulum in engineering applications.In this paper,a strategy of adaptive tracking control with Prescribed Performance is proposed for double-pendulum tower crane systems.The method can not only ensure the fast positioning of the jib and trolley,but also suppress the swing of the hook and payload,and the tracking error can be limited to the designed time-varying domain.The stability of the system is proved by the Lyapunov technique and LaSalle's invariance theorem.The results of simulations comparing the LOR and ESC controllers,along with tests conducted on the continuous motion(variable load)of crane lifting,indicated that the controller proposed in this study exhibits exceptional positioning accuracy and effective anti-sway capabilities.
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