A novel non-recursive robust adaptive for 2D cranes with load hoisting/lowering

Abstract

In this paper, the author considers the design of a non-recursive robust adaptive controller for a two-dimensional overhead crane system with varying cable lengths, to suppress swing angle during load hoisting/lowering, while tracking the load's trajectory under conditions of uncertain system parameters and external disturbances. The proposed non-recursive robust adaptive controller,  with only a time-varying and updated parameter, eliminates the need to design a tool for estimating uncertain model parameters and disturbances. The controller is analyzed and proven stable according to the Lyapunov theory. The trajectory tracking error of the trolley and all parameters in the closed-loop control converge to zero and are bounded. Finally, simulations are performed to verify the feasibility and effectiveness of the proposed control algorithm.