A PID-SMC control method with payload anti-swing for 3D overhead crane systems

For the overhead crane payload swing problem, an anti-swing controller based on sliding mode theory is designed for the three-dimensional overhead crane in this paper. A sliding mode switching function with a PID form is constructed with a four-order kinetic model, the function with the payload swing angle is introduced into the sliding mode switching function to constitute the new sliding mode controller, and the stability of the system is analyzed using the Lyapunov function. The effectiveness and robustness of the proposed controller are tested with the numerical simulation. The results show that the payload swing angle can be maintained within 5° using the proposed controller.