Adaptive control of an overhead crane using dynamic feedback linearization and estimation design

The authors propose an indirect adaptive scheme for incompletely controlled mechanical systems such as overhead cranes or, more generally, classical rigid manipulators ended by a simple pendulum. In the case of known parameters a dynamic state feedback produces full linearization. An adaptive version is obtained by a simple estimation method together with a certainty equivalence law, taking advantage of the particular structure of the equations. Global stability is discussed, and simulation results for the overhead crane are reported