SECOND-ORDER SLIDING MODE CONTROL FOR DOUBLE-PENDULUM THREE-DIMENSIONAL OVERHEAD CRANES

Abstract

This research proposes a second order sliding mode controller for a 3D crane system with a double pendulum effect and constant rope length. The 3D crane system is an underactuated system, and the control requirement is to ensure that the trolley reaches the desired position while keeping payload oscillations within acceptable limits. Therefore, the SMC algorithm is designed in two stages to meet these demands. First, the sliding surface is selected, and then the SMC scheme is designed to push all system states to the reference points on the sliding surface. The controller parameters are selected based on Lyapunov criterion and input-to-state stability (ISS). The simulation results show that the proposed controller ensures the 3D crane system effectively meets the desired requirements