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As an efficient transportation tool, the tower crane is widely used in construction production. To improve the working efficiency, some automatic control methods have been proposed for the tower crane system, including some open loop methods, like input shaping methods, trajectory planning methods, and so on. However, generally, tower cranes usually work in outdoor environment, which are sensitive...
In real-world applications, cranes usually suffer from parametric uncertainties, such as unknown friction, cart mass, load mass, and wire length. Moreover, existing crane control methods cannot guarantee the motion scope of the cart, since merely asymptotic results, at best, can be obtained due to the underactuated nature. Due to unexpected overshoots, existing methods, if not well tuned, may drive...
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