Model Reference Simple Adaptive Control System using an Ideal-Input Model for Overhead Travelling Cranes with Load Mass Change

This paper proposes an ideal-input model reference simple adaptive control scheme (MRSACS) with an adaptive proportional internal derivative (PID) mechanism in a reference model for anti-sway and position control of an overhead travelling crane that uses various pendulum (rope) lengths, after which its performance is verified via various simulations. It was found that the system’s parallel PID adaptive mechanism was robust against load change properties, and the simulation results showed that the effectiveness of pendulum length and weight changes were satisfactory for simultaneous position control and anti-sway measures.