This paper presents a robust passivity-based adaptive control method for payload trajectory tracking of a three degree-of-freedom overhead crane with a varying-length rigid hoist cable. A reformulation of the overhead crane’s equations of motion is used and an adaptive control law is developed to ensure the system has an output strictly passive (OSP) input–output mapping. The Passivity Theorem is used to prove that the closed-loop system is input–output stable when an OSP negative feedback controller is implemented. Convergence and boundedness of the payload trajectory tracking error is proven with two candidate OSP feedback controllers, including a constant gain and a strictly positive real (SPR) controller. Numerical simulations and experiments are performed with the proposed control method and two state-of-the-art control laws from the literature. The results demonstrate the practicality of the proposed control method and the improved performance of the proposed SPR controller in the experiments compared to the controllers from the literature.

本文提出了一种基于鲁棒性的自适应鲁棒自适应控制方法，该方法可用于具有可变长度的刚性提升索的三自由度桥式起重机的有效载荷轨迹跟踪。使用高架起重机的运动方程式的重新制定，并制定了自适应控制律，以确保系统具有严格的输出无源（OSP）输入-输出映射。无源定理用于证明当实施OSP负反馈控制器时，闭环系统的输入输出稳定。有效载荷轨迹跟踪误差的收敛性和有界性已通过两个候选OSP反馈控制器进行了证明，其中包括恒定增益和严格正实数（SPR）控制器。使用所提出的控制方法和文献中的两个最新控制律进行了数值模拟和实验。结果表明，与文献中的控制器相比，所提出的控制方法的实用性和所提出的SPR控制器在实验中的改进性能。