For practical mechanical systems, uncertainties/disturbances, such as unmodeled dynamics
and frictions, are nonignorable factors. For existing control methods, these factors are …

Shipboard cranes are extensively utilized in numerous fields such as cargo transferring and
offshore engineering. The control of shipboard cranes, especially the antiswing control of …

We develop a robust controller for tracking a class of underactuated mechanical systems
(UMSs) that considers many inconveniences, such as actuator faults, parametric …

Most of the existing anti-swing control methods treat the crane as a single pendulum system
with fixed rope length. In this paper, considering the varying rope length, the dynamic model …

As representative underactuated systems, tower cranes exhibit high nonlinearity and strong
state coupling, which makes their controller design (analysis) challenging and of great …

In this paper, a novel periodic sliding mode control method is designed for 4-DOF tower
crane systems with unmatched disturbances as well as unknown/time-varying control …

The offshore crane system is a typical underactuated system which is installed on the ship
and carried out the payload transportation in the offshore environment. The payload …

Underactuated dual boom crane (DBC) systems exhibit complicated nonlinearity and strong
coupling due to the lack of independent actuators. Moreover, plant parameters may change …

This paper proposed a motion planning scheme, a nonlinear controller integrated with an
observer for a three-dimensional overhead crane (3DOC) nonlinear system. The designed …

Output feedback control without using velocities is an effective way of dealing with problems
caused by unmeasurable velocities and noise magnification by numerical difference, which …