Adaptive coupling tracking control strategy for double-pendulum bridge crane with load hoisting/lowering

The bridge crane, as an efficient transportation tool, isss widely used in various fields. Currently, research on bridge cranes mainly focuses on the single-pendulum domain. However, in the actual transportation process, the mass of the hook cannot be ignored, and it can cause relative oscillations of the crane, similar to a double-pendulum model. Therefore, many experts and scholars have researched double-pendulum bridge cranes. In the operation of a double-pendulum bridge crane with load hoisting/lowering, uncertainties such as frictional resistance and air resistance cannot be accurately fed back to the controller input, posing a significant challenge in designing anti-swing control strategies. In this paper, an adaptive coupled tracking anti-swing control strategy is proposed to address the above issues. Specifically, based on the principle of energy dissipation, more system parameter information is incorporated into the design of coupled trajectories. By combining the S-shaped trolley motion reference trajectory, an error-tracking trajectory for the trolley is designed. Considering the uncertainties of air resistance and frictional resistance, an adaptive rate is used to estimate the resistance coefficients online and feedback to the system input, ultimately designing an adaptive trajectory tracking coupled controller. The asymptotic stability of the equilibrium point of the closed-loop system is proven using the Lyapunov method and Barbalat lemma. Extensive experimental simulations are conducted to demonstrate the good control performance of the proposed control strategy.