Positioning Anti-swing Control of Bridge Crane Based on Data Drive Method

In order to eliminate the dependence of controller design on model and the influence of unmodeled dynamics and uncertain disturbances on system performance in the positioning anti-swing control of bridge crane, a data driven model-free adaptive control (MFAC) is proposed. Using the input and output data of the bridge crane system, the dynamic linearized data model of the bridge crane nonlinear system is obtained through the mechanism and data-driven method. Based on this virtual data model, the model-free adaptive control law and the pseudo-Jacobi matrix estimation algorithm are designed based on the optimization theory under the constraints. The simulation results verify the effectiveness of the method.