Modeling and Adaptive Control for Tower Crane Systems with Varying Cable Lengths

  • Menghua ZhangEmail author
  • Yongfeng Zhang
  • Huimin Ouyang
  • Changhui Ma
  • Xingong Cheng
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 582)


Tower cranes are highly underactuated nonlinear systems with five degrees-of-freedom (trolley displacement, jib angle, cable length, payload swing angles), and only three control inputs (one for the trolley driving, another for the jib driving, and another for the cable length varying). The three main control objectives of tower crane systems are driving the trolley and the jib to the desired position and desired angle, respectively, hoisting the cable length to the desired length while suppressing and eliminating the payload swing angles. Therefore, the model of tower crane systems with varying cable lengths is established, and on this basis, an adaptive control with payload swing suppression is proposed in this paper. Lyapunov method and LaSalle’s invariance theorem are illustrated to prove the stability of the closed system and the convergence of the system states. Simulation results are provided to validate the superior performance of the proposed control method.


Underactuated system Tower crane Modeling Adaptive control 



This work is supported by the National Key R&D Program of China under Grant No. 2018YFB1305400, the Key Research and Development (Special Public-Funded Projects) of Shandong Province under Grant No. 2019GGX104058, the National Natural Science Foundation for Young Scientists of China under Grant No. 61903155, and the Natural Science Foundation of Shandong Province under Grant No. ZR2019QEE019.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  • Menghua Zhang
    • 1
    Email author
  • Yongfeng Zhang
    • 1
  • Huimin Ouyang
    • 2
  • Changhui Ma
    • 1
  • Xingong Cheng
    • 1
  1. 1.School of Electrical EngineeringUniversity of JinanJinanChina
  2. 2.School of Electrical Engineering and Control ScienceNanjing Tech UniversityNanjingChina

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