Modeling and observer-based robust controllers for telescopic truck cranes

Model‐reference adaptive and self‐tuning controls of telescopic mobile cranes with the impact of elastic cables, viscoelastic cylinders, and winds

“…Corresponding to five generalized coordinates q, the dynamic features of a TBC are governed by five fully nonlinear differential equations 25,26 :…”

“…The TBC changes its horizontal reach by synchronously telescoping and luffing the boom. In the literature, the number of articles on the control of TBCs [17][18][19][20][21][22][23][24][25][26] is insignificant compared with that of other cranes. The industrial controllers for TBCs still utilize traditional schemes, such as PID 18 and its variants.…”

“…26 These control systems exhibit control effectiveness and modeling precision. 25,26 This study aims at robustness and adaptation for TBC control systems. Various advanced control techniques are combined for robust adaptive control systems to reject uncertainties and disturbances.…”

“…This study is an extension of previous works. 25,26 A previous study 25 mainly validated the proposed crane model through a robust approach. Another study 26 enhanced the existing model by integrating an adaptive multifunction estimator on the basis of neural networks.…”

“…Given that input‐shaping is an open‐loop control system, it is sensitive to wind and uncertainties. Recently, a complex TBC model was developed and efficiently applied to model‐oriented control approaches 25 . The controllers were built based on second‐order SMC, fast terminal SMC, 25 neural SMC, and FO‐FMC 26 .…”