<span>A tower crane transfers the payloads of various volumes and weights depending
on the each operation case. The friction factors characterized by
damped coecients can be changed in connection with operating environment.
This study develops a sliding mode controller for the tower cranes
without priori information of system parameters composed of cargo mass
and damped aspects. The proposed controller simultaneously executes ve
duties consisted of tracking the trolley and arm, hoisting the cargo, keeping
the payload swings small during the transport process, and absolutely
suppressing the cargo vibrations at destination of trolley and bridge. Both
simulation and experiment results indicate that the adaptive robust controller
asymptotically stabilizes all crane system responses.&nbsp;</span>

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Robust & Adaptive Control of a Tower Crane

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