Paper ID: 1069 - ISARC 2026 by Kolani, Mohammad Reza

Title: Model-based adaptive controller for fast and restricted swing control in Tower Cranes Authors: Mohammad Reza Kolani, Ali Mirhaghgoo, Stavros Nousias, André Borrmann Abstract: Tower cranes are underactuated, nonlinear systems in which rapid trolley and slew motions inevitably cause payload swing. An effective controller is crucial to ensure operational safety and efficiency, as uncontrolled payload swing can lead to hazardous conditions and reduced productivity. This paper addresses the problem of rapid and restricted swing ... Keywords: Tower crane, Underactuated systems, Adaptive control, Payload swing suppression, Simulation DOI: https://doi.org/10.22260/ISARC2026/0029