Adaptive output feedback control for positioning anti-swing of double-pendulum tower cranes with jib deflection based on disturbance observer

Tower cranes present significant challenges in load stabilization due to the double-pendulum effect, jib deflection, and external disturbances, which collectively complicate effective load control. Conventional methods largely depend on linearized models, which are insufficient to address nonlinear coupling and external disturbances. This paper proposes a nonlinear output feedback control method incorporating a disturbance observer to overcome these limitations. By constructing a nonlinear dynamic model that accounts for jib deflection and employing Lyapunov stability theory, we develop a non-regressive disturbance observer capable of real-time disturbance estimation and compensation without requiring precise model parameters. Based on this framework, an adaptive output feedback controller is designed, leveraging the Lyapunov function and disturbance observer to achieve precise load positioning and swing suppression. Simulation results demonstrate that this method significantly outperforms traditional control approaches regarding accuracy and robustness, establishing its practicality in complex operating conditions and offering a novel, robust solution for efficient crane control in engineering applications.