Adaptive control of uncertain underactuated cranes with a non-recursive control scheme

In this paper we consider the adaptive control of underactuated crane systems with unknown system parameters. A novel non-recursive control scheme is proposed for the underactuated crane systems with a time-varying control gain. The parameter estimators design for the unknown parameters is also avoided. It is shown that the stabilization errors of the underactuated crane systems converge to origin asymptotically. Finally simulation results are carried out to verify the effectiveness of the proposed schemes.