Abstract
Crane systems are usually applied to achieve transportation for heavy payloads in many industrial fields. When the transported cargo cannot be regard as a mass point or the hook mass needs to be considered, the crane system is a double pendulum system, which will bring much more difficulty in design suitable control methods. Considering this fact, we propose a sliding mode tracking method for double pendulum cranes with variable rope length, which achieves accurate trolley and payload hoisting/lowering positioning by properly tracking the pre-planned reference trajectories. The important swing suppression for both payload’s and hook’s swing angles is also ensured simultaneously. Finally, some simulations are included to better verify our method.
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