Two-degree-of-freedom sliding mode anti-swing and positioning controller for overhead cranes

A two-degree-of-freedom sliding mode controller (SMC) was proposed for the anti-swing and positioning control of overhead crane. The set-point response and load-disturbance response were regulated independently to overcome the shortage of traditional SMC. The proposed method can bring control system good characteristics of command tracking and disturbance as well as robustness. The feed-forward controller was simple and had only one adjustable parameter. The feedback controller was designed based on the principle of sliding mode control. A new control law was presented to suppress the chattering and improve reaching speed. Theoretical analysis and simulation results show that the proposed method has a better performance.