ABSTRACT Four‐Degree‐of‐Freedom (4‐DOF) double‐pendulum bridge cranes often encounter complex double‐pendulum swings, uncertain frictional resistance, and overshoots of the actuated states during load transportation, which significantly increase the difficulty of anti‐swing and precise positioning control. To address these issues, this paper proposes an overshoot‐constrained adaptive anti‐swing control strategy. First, a nonlinear dynamic model of the 4‐DOF double‐pendulum bridge crane is established by considering rope‐length variation, double‐pendulum effects, and frictional resistance. Second, an adaptive updating law is designed to estimate the uncertain friction coefficients online. In addition, a nonlinear overshoot constraint term is constructed to confine the maximum overshoots of the actuated states within the desired range, and a nonlinear anti‐swing term is developed to enhance damping through squared angular velocity feedback, thereby yielding an overshoot‐constrained adaptive anti‐swing controller. Then, the asymptotic stability of the closed‐loop system is proven using Lyapunov stability analysis combined with LaSalle's invariance principle. Finally, numerical simulations and physical experiments show that the proposed control strategy achieves fast and accurate positioning of the trolley and rope, confines overshoots within prescribed bounds, effectively suppresses the swings of the hook and payload, and exhibits strong robustness.
Huo et al. (Wed,) studied this question.