Abstract In practical application, the payload swing of tower crane often presents double-pendulum characteristics, which makes it difficult to obtain good performance by existing control methods. Because of this, so far, there are few literatures about the anti-swing and positioning control of double-pendulum tower cranes. At the same time, when the system model parameters are uncertain and there exist external disturbances, the design of the controller becomes more difficult. Therefore, a nonlinear adaptive tracking controller is designed to solve the above problems without a linearized crane model. The stability of this closed-loop control system is theoretically proved by the Lyapunov technique and LaSalle’s invariance theorem. After a large number of simulations, the proposed controller not only achieves good positioning and anti-swing performance, but also exhibits strong robustness to model parameter uncertainties and external disturbances.

中文翻译：

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双摆塔式起重机自适应跟踪控制器设计

摘要 在实际应用中，塔式起重机的有效载荷摆动往往呈现双摆特性，使得现有的控制方法难以获得良好的性能。正因为如此，迄今为止，关于双摆塔式起重机防摇摆和定位控制的文献还很少。同时，当系统模型参数不确定且存在外部扰动时，控制器的设计变得更加困难。因此，在没有线性化起重机模型的情况下，设计了非线性自适应跟踪控制器来解决上述问题。该闭环控制系统的稳定性由李雅普诺夫技术和拉萨尔不变定理在理论上证明。经过大量的模拟，