Adaptive fuzzy tracking control for vibration suppression of tower crane with distributed payload mass

As an indispensable transportation tool, tower cranes are widely used in construction sites. However, since the mass and volume of the transported goods become larger, most of the traditional control algorithms designed for Concentrated Payload Mass (CPM) are not sufficient for Distributed Payload Mass (DPM). One of the main differences between DPM and CPM is that the payload swing caused by the moment of inertia of DPM cannot be effectively suppressed, resulting in residual payload swing. Furthermore, due to different working environments, accurate system parameters are difficult to obtain, leading to errors in their positioning. Hence, an adaptive fuzzy control method is proposed, which has good control performance in the presence of external disturbances and parameter uncertainties. The effectiveness of the proposed method was verified through experiments. This improves the efficiency of transportation and is of more practical significance for automation construction. In future research, fault diagnosis and active fault-tolerant control will be considered as the following research directions, taking into account the problem of actuator/sensor failures due to prolonged system operation.