Finite-Time Trajectory Tracking Control Without Payload-Swing Feedback for Overhead Crane Systems Subject to Uncertain Dynamics

摘要

In this paper, a finite-time trajectory tracking control method for overhead crane systems with uncertain dynamics is proposed. Unlike most existing crane control methods, the controller needs no payload-swing feedback and is proposed in the framework of observer-based control design. As shown by Lyapunov techniques and LaSalle's invariance theorem, the proposed controller guarantees finite-time tracking result even in the presence of uncertain dynamics and no payload-swing feedback. Simulation results are provided to illustrate the superior control performance of the proposed controller.