This study aims to improve the efficiency of construction efficiency to ensure the
infrastructure needs of urban development. Targeting at realizing the intelligent …

Due to limited workspace and safety requirements for practical underactuated mechanical
systems, it is necessary to restrict all to-be-controlled variables and their velocities within …

The extended state observer (ESO) is used to estimate both the unmeasurable system states
and acting lumped disturbance. Generally, high gains need to be selected in ESO to achieve …

Artificial-delay control is a method in which state and input measurements collected at an
immediate past time instant (ie, artificially delayed) are used to compensate the uncertain …

To transfer heavy payloads at construction sites, tower cranes are essential. However, tower
cranes are a complex underactuated system due to the strong coupling between the jib …

This paper presents a robust passivity-based adaptive control method for payload trajectory
tracking of a three degree-of-freedom overhead crane with a varying-length rigid hoist cable …

In this article, we design a novel saturated proportional-derivative (PD) with sliding-mode
control (SMC) method or saturated PD-SMC in short for 4-DOF tower crane systems under …

Using three actuators for tracking five outputs, rubber-tired gantry (RTG) crane is found to be
a highly under-actuated system subject to random wind due to working outdoors. Applying …

To improve the transient control performance and to guarantee the satisfactory robustness
simultaneously, in this paper, a disturbance employment-based sliding mode control …

This paper presents a new control scheme based on model reference command shaping
(MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach …