A nonparametric adaptive crane control system is proposed where the crane payload tracks a desired trajectory with feedback from the payload position. The payload motion is controlled with the position of the crane tip using partial feedback linearization. This is made possible by introducing a novel model structure given in Cartesian coordinates. This Cartesian model structure makes it possible to implement a nonparametric adaptive controller which cancels disturbances by approximating the effects of unknown disturbance forces and structurally unknown dynamics in a reproducing kernel Hilbert space (RKHS). It is shown that the nonparametric adaptive controller leads to uniformly ultimately bounded errors in the presence of unknown forces and unmodeled dynamics. Moreover, it is shown that the Cartesian formulation has certain advantages in payload tracking control also in the non-adaptive case. The performance of the nonparametric adaptive controller is validated in simulation and experiments with good results.

翻译：本文提出了一种非参数自适应起重机控制系统，该系统利用有效载荷位置的反馈使起重机有效载荷跟踪期望轨迹。通过使用部分反馈线性化，利用起重机吊钩尖端的位置控制有效载荷运动。这是通过引入一种在笛卡尔坐标系中给出的新颖模型结构实现的。该笛卡尔模型结构使得实现非参数自适应控制器成为可能，该控制器通过在再生核希尔伯特空间（RKHS）中逼近未知扰动力和结构未知动力学的影响来消除干扰。研究表明，在存在未知力和未建模动力学的情况下，非参数自适应控制器能实现一致最终有界误差。此外，研究还表明，即使在非自适应情况下，笛卡尔公式在有效载荷跟踪控制中也具有特定优势。通过仿真和实验验证了非参数自适应控制器的性能，并取得了良好结果。