Model-Free Control for Trajectory Tracking and Anti-Sway of 3D Coupled-Pendulum Overhead Cranes

This paper presents a non-recursive robust adaptive control approach for three-dimensional double pendulum overhead cranes (3DOC) operating under system uncertainties and external disturbances. A key advantage of the proposed controller lies in its ability to ensure that system states track the reference trajectory without relying on prior knowledge of the system model. Instead of utilizing estimation tools for uncertain parameters, the controller employs a time-varying control gain that is continuously updated. The stability of the closed-loop system is rigorously proven using Lyapunov theory. Simulation results, conducted on a semi-physical model, demonstrate the effectiveness and robustness of the proposed control strategy.