Design of sliding-mode controller for anti-swing control of overhead cranes

In this study, the anti-swing control problem for an underactuated overhead crane system is considered. The minimizing the swing angle and maximizing the speed of load transfer are contradict to each other, which means that the stability of swing dynamics and accurate trolley position control with uncertainties is hard to implement simultaneously by using fewer actuators. In this paper, an anti-swing control scheme is designed based on the sliding-mode control to satisfy the strict specification on the swing angle and accurate trolley position control in spite of load mass uncertainty. Simulation results show that the proposed control guarantees the asymptotically stability of sliding surface and stabilize the swing dynamics with exponential decay.