Adaptive control for 3-D overhead crane systems

For the requests on high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and swing control for an overhead crane system becomes an interesting issue in the field of control technology development. In this paper, an adaptive nonlinear control scheme which incorporates both the cart motion dynamics and sway angle dynamics is presented to ensure the positioning control as well as overall closed-loop system stability. All the system parameters are not needed for the controller design in a priori. In the developed control laws, the position error will be driven to zero while the sway angle is also rapidly damped so as to achieve minimal swing of the pendulum. Besides, theoretical proof of the overall system stability is also given