Adaptive tracking of double pendulum crane with payload hoisting/lowering

This paper focuses on the tracking control problem of double pendulum crane systems with payload hoisting/ lowering. Some gravity parameters, such as payload masses, are difficult to be accurately measured, which may cause steady positioning errors. To deal with this difficult problem, we propose an effective adaptive tracking controller. By using the proposed method, accurate tracking and double pendulum swing suppression objectives are achieved, and unknown gravity parameters are also accurately estimated by an elaborately designed estimation method, which are verified by simulations and experiments. This work would improve the adaption of transporting payloads with different masses for double pendulum cranes. In our future work, this method would be extended to solve control problems of 3D (3 dimensional) double pendulum cranes.