Adaptive Controller Design for Overhead Cranes With Moving Sliding Surface

An adaptive sliding mode control (ASMC) method with moving sliding surface (MSS) is proposed for anti-swing and positioning control of two-dimensional underactuated overhead crane in this paper. The designed moving sliding surface can change its slope in real time according to displacement error and speed error, thereby tracking performance of the trolley is improved. At the same time, a dynamic exponential term is added into the moving sliding surface so as to drive initial state variables into the sliding surface quickly to ensure the global robustness of the crane system. Finally, the controller switching gain is adjusted by an adaptive control law, which can effectively reduce chattering phenomenon occurring in the phase of sliding mode control. The controller can realize rapid positioning of the trolley and anti-swing control of the load under the condition of rope length changing. The global stability analysis of the suggested controller is given in the paper. The final simulation results confirm the effectiveness of the proposed controller.