Finite-time plant-parameter-free trajectory tracking control for overhead cranes with double-pendulum dynamics and uncertain disturbances

Abstract

In this paper, a novel finite-time plant-parameter-free trajectory tracking control method, along with a finite-time disturbance estimator, is developed for the overhead crane system with double-pendulum dynamics and uncertain disturbances. Compared with existing works for the double-pendulum overhead crane system, the proposed control scheme possesses three remarkable advantages: free of any plant parameters, finite-time trajectory tracking, and uncertain disturbance rejection. Specifically, the dynamic equation of the double-pendulum overhead crane system is transformed into a new form by introducing auxiliary signals. Then, a finite-time disturbance estimator is constructed based on the transformed dynamic equation, and a corresponding finite-time trajectory tracking control scheme is proposed for the double-pendulum overhead crane system. The stability of the closed-loop system is given through rigorous theoretical proof. Finally, numerical simulation results are provided to demonstrate the effectiveness of the presented control scheme.