Adaptive Trajectory Tracking Control of Underactuated 3-dimensional Overhead Crane Systems

In this paper,an adaptive trajectory tracking controller is proposed for 3-dimensional(3D) underactuated overhead cranes.Considering system frictions and air resistances,this controller is put forward without approximately decoupling or linearizing the complicated nonlinear model of 3D overhead cranes.The proposed controller can accurately position the trolley as well as suppress the payload swing even in the presence of uncertainties of system...