Positioning anti-sway control method for tower crane based on improved MFAC

A model-free adaptive control (MFAC) based on partial format is proposed for the complex modeling and uncertain model parameters of the tower crane (TC) in this paper. Firstly, considering the complexity of the TC nonlinear system, the data model of the TC is obtained through the partial format dynamic linearization method. Then, a model-free adaptive controller is designed for the TC, incorporating the change rate of the tracking error and its derivative into the objective function to address the inefficiency of traditional model-free controllers in controlling TCs. The convergence and stability of the proposed controller are also proved. To further improve the dynamic performance of the system, a tracking differentiator (TD) is introduced after the input signal. Finally, MATLAB simulation and experiments are conducted to verify that the proposed method can achieve precise trolley positioning while suppressing the load swing angle.