Control of a 3-D overhead crane modelled as a 7 degree of freedom double pendulum

In this paper, a sliding mode control of a 3-D overhead crane is investigated, where a 7-DOF double pendulum dynamic model of the crane is considered in the control design. The Euler-Lagrange equations is employed to derive the dynamic model of the overhead crane. The proposed sliding mode control law guarantees the asymptotical stability of the crane. The numerical simulations and experiments are carried out to verify the effectiveness of the proposed control method, where the consistency between numerical simulation and experiment results are shown.