The focus of this paper is the comparison of a robust and a robust adaptive control algorithm, in connection to a resolved motion control system for a mobile hydraulic loader crane with a telescopic arm. The compared control strategies are related to the inner control loops of the system, which are controlling the velocities of the individual actuators on the mobile crane. Along with the inner loops an outer loop in the form of an algorithm for solving the problem of kinematic redundancy is used. The considered control strategies are tested on a simulation model incorporating structural flexibility of the mechanical system. Results obtained with the robust inner control algorithm are verified experimentally and it is explored how accurate the crane may be maneuvered. A comparison of the two methods is made based on the obtained results.

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