Adaptive Backstepping Sliding Mode Control for Double-Pendulum Tower Cranes

Most of the previous studies on tower cranes simplified the payload as a single-pendulum model, neglecting the double-pendulum effect when the hook mass approaches the payload mass. In this study, a dynamics of tower cranes considering double pendulum effect is developed on the basis of Euler-Lagrange technique. An adaptive backstepping sliding mode control (ABSMC) algorithm is presented to achieve precise positioning and eliminating oscillations. Simulation results validate the effectiveness and robustness of the proposed controller.