Adaptive Fault-Tolerant Anti-Sway Control of a Nonlinear Tower Crane System

This paper presents a fault-tolerant control for a tower crane cable system considering unknown external disturbances. The cable of the tower crane has varying length along axial direction and vibration along horizontal direction. External disturbances and actuator failures are treated in this paper using a combination of disturbance observer and radial basis functions (RBF) neural network approximation. Finally, we analyze the system stability. By selecting appropriate control parameters, the simulation results verify the control feasibility.