Model-Free Adaptive Sliding-Mode Control for Tower Cranes

Considering the dependence of the existing control methods on the tower crane model, a model-free adaptive sliding mode control algorithm is proposed for the positioning anti-swing problem of tower cranes. The proposed controller combines terminal sliding mode control and Full format dynamic linearization (FFDL) data model to against the problems posed by the model uncertainty. A tracking differentiator (TD) is also employed to further improve the dynamic performance of the system. The theoretical analysis proves the convergence of the control error and the effectiveness of the proposed algorithm is verified by simulation.