Model-Based Adaptive Controller for Tower Cranes

This technical report presents a model-based adaptive control scheme aimed at addressing the challenges of rapid and restricted swing control in tower cranes. Tower cranes are identified as underactuated, nonlinear systems where uncontrolled payload swing can lead to safety hazards and reduced operational efficiency. The proposed controller utilizes only actuated-state measurements to compensate for various uncertainties, such as payload mass and cable dynamics, thereby effectively damping sway motion while ensuring fast tracking of trolley and hoist positions. The report details the implementation and evaluation of the controller within a physics-based simulation environment that closely replicates real-world conditions. Comparative results demonstrate that the adaptive controller significantly reduces peak swing, accelerates oscillation decay, and shortens settling times compared to traditional PD controllers. The findings suggest that this adaptive control approach can enhance safety and productivity in tower crane operations by mitigating risks associated with payload oscillations.