Adaptive Control Design for Underactuated Cranes With Guaranteed Transient Performance: Theoretical Design and Experimental Verification

For antiswing control of underactuated cranes, how to guarantee the converging speed cranes through design is essential but still remains unsolved. In this article, adaptive for gantry with guaranteed transient performance under unmodeled dynamics and external disturbances investigated. To sovle problem, a set filters are proposed make backstepping technique applicable crane systems. Then variable transformation position error swing angel could be origin given exponential speed. Hardware experiments conducted show that scheme achieves better over existing methods, it illustrated possesses strong robustness uncertainties disturbances.