Incremental sliding mode control for double-pendulum-type overhead crane system

Based on Lagrangian method, the nonlinear dynamic model of the double-pendulum-type system is established. In this paper, an incremental sliding mode control scheme for double-pendulum-type system is proposed to achieve asymptotic stability. The asymptotical stability of the entire sliding mode surfaces is proved theoretically. Simulation results show the validity of this control scheme.