Stabilization control of underactuated cranes with guaranteed transient performance

In this paper, we consider the stabilization control of underactuated crane systems with guaranteed transient performance. By incorporating prescribed performance bound (PPB) technique, the underactauted cranes are stabilized exponentially with a guaranteed convergence rate. Meanwhile to avoid the "explosion of terms" due to backstepping, dynamic surface approach is also applied. It is proved that stabilization error could be made arbitrarily small by adjusting the control parameters. Experiment results illustrate the theoretic conclusion of this paper.