Adaptive control for an underactuated overhead crane system

Bo Jun Ma, Yong Chun Fang, Yu Tao Wang, Zhong Ping Jiang

Research output: Contribution to journalArticlepeer-review


A dissipativity-based adaptive controller is designed for an underactuated overhead crane system. This controller controls the crane system to transport the payload to a desired location with little swing. Being different from conventional crane control laws, the proposed controller does not measure the system parameters such as the mass of trolley and payload, and the length of the rope; instead, the control algorithm estimates those parameters online according to the system responses. The stability of the closed-loop system is proven by Lyapunov techniques and LaSalle's Invariance Theorem. Simulation results demonstrate that the designed adaptive controller achieves a superior performance for the overhead crane system.

Original languageEnglish (US)
Pages (from-to)1105-1109
Number of pages5
JournalKongzhi Lilun Yu Yingyong/Control Theory and Applications
Issue number6
StatePublished - Dec 2008


  • Adaptive control
  • Anti-swing control
  • Dissipativity
  • Overhead crane
  • Underactuated system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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