SLIDING MODE CONTROL DESIGN WITH EXPONENTIAL REACHING LAW OF A THREE-DIMENSIONAL OVERHEAD CRANE

Abstract

In this study, Sliding Mode Control (SMC) is applied on a three-dimensional (3D) overhead crane - a multi-input, multi-output nonlinear system. A novel approach is proposed that allows chattering reduction on control input, while keeping high tracking performance of the controller in a steady-state regime. This approach involves designing a nonlinear law using an exponential function that helps to effectively control the tower crane system to desired positions and eliminate cargo swings during the transport process. The simulation results demonstrate the efficiency of the proposed controller and compare it with a sliding controller with a saturation gain function. In addition, the certainty of the controller against the uncertainty in the crane parameters is also investigated through simulation.