Tower crane positioning anti-swing model-free self-adaptive control method

The invention belongs to the technical field of tower crane positioning and anti-swing control, and discloses a tower crane positioning and anti-swing model-free self-adaptive control method, and the specific technical scheme is as follows: 1, establishing a virtual dynamic linearization data model of a tower crane system by using input and output data of a tower crane through a driving modeling method; 2, designing a model-free adaptive control law and a pseudo gradient estimation algorithm on the virtual dynamic linearization data model according to an optimization theory under constraint conditions, and estimating pseudo gradient parameters by using an estimation algorithm of system input and output data; 3, in order to further improve the dynamic performance of the system, a tracking differentiator is added behind the input signal; and 4, the stability of a closed-loop system and the convergence of system errors are proved through Lipschitz conditions and inequality theory analysis, the model-free adaptiv