Random adaptive trajectory tracking of bridge crane system driven by DC-motors

For bridge crane system driven by DC-motors with unknown parameters, this paper focuses on the problem of modeling and adaptive tracking control under random disturbances. By equivalently regarding the effect of random noises as force, torque or voltage disturbed by colored noises, a random model is constructed. Noting the structural properties of the model, a Lyapunov function is skillfully constructed and an adaptive trajectory tracking controller is designed such that the tracking error can be made as close to zero as possible by tuning design parameters, and the closed-loop system is noise-to-state-practically stable in probability. The simulation result demonstrates the effectiveness of the control scheme.