Adaptive Nonlinear Robust Control for Overhead Cranes With Uncertain Disturbances

As an effective portage equipment, the overhead crane has turned into a monumental research object in the sphere of control due to its low cost, fault tolerance, wide application, and so on. For the sake of achieving superior transitional behavior, a novel adaptive nonlinear robust control law is presented in this article for the cranes with constant force devices. In this control strategy, an attenuated signal containing both trolley movement and payload pendulate is first constructed, on this basis, the mechanical energy storage function of the overhead crane with constant force devices is improved. Furthermore, the observer for unknown overall interferences in cranes is introduced to achieve the adaptive estimation of uncertain disturbances, and the stability of the overhead crane with constant force devices is investigated theoretically. Eventually, the availability and immunity of the novel nonlinear robust controller are testified through emulation outcomes.