Adaptive Backstepping Hierarchical Sliding Mode Control for Uncertain 3D Overhead Crane Systems

This paper presents an adaptive backstepping hierarchical sliding mode control algorithm for uncertain 3D overhead crane model. Backstepping sliding mode is constructed based on hierarchical structure to guarantee tracking for trolley and anti-swing for load. Neural network is adopted to approximate the uncertain terms. The disadvantage of sliding mode control is fixed by changing signum function to saturation function. The purposes of this paper are to use RBF neural network to approximate nonlinear function of crane, design hierarchical sliding mode controller based on Lyapunov theory.