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Adaptive sliding mode control of container cranes

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2 Author(s)
Ngo, Q.H. ; Sch. of Mech. Eng., Pusan Nat. Univ., Busan, South Korea ; Hong, K.-S.

An adaptive sliding mode control scheme for container cranes is investigated in this study. A sliding surface is designed in such a way that the sway motion of the payload is incorporated into the trolley dynamics. Included in the proposed control law is a varying control gain, obtained by an adaptation law, which transitions the system into the sliding mode. The control law guarantees the asymptotic stability of the closed-loop system. To demonstrate the efficiency of the proposed algorithm, experimental results are provided.

Published in:

Control Theory & Applications, IET  (Volume:6 ,  Issue: 5 )