Nonlinear Control Strategy for Tower Cranes with Variable Cable Lengths and Multivariable State Constraints

Tower cranes play a crucial role in construction, but their complex dynamics and under-actuation pose significant control challenges. This research proposes a sophisticated multi-variable state-constrained controller for tower cranes with varying cable lengths. By introducing auxiliary terms, the controller effectively constrains the actuated variables, underactuated variables, and specific composite variables, ensuring precise cargo positioning and swing suppression. The control approach for tower cranes in this paper enhances both safety and operational efficiency. Finally, the proposed method's feasibility and robustness are validated through simulation experiments.