Combination Sliding Mode Control Based on Input Shaping for Overhead Crane

Considering the vertical velocity of crane loads,a new combination sliding mode control method based on input shaping for overhead crane was proposed,which had the advantages of the input shaping feedforward control and the sliding mode feedback control. The combined sliding mode controller was designed to control the trolley position and the load swing angle. The input shaping was used to further reduce the residual vibration of the load.Such system has strong robustness with external disturbance and better control performances,thus realizing the trolley position and the elimination of load swing,the stability of the system is proved by Lyapunov method. The simulation results show that the validity of the proposed scheme.