Model Reference Adaptive Sliding Mode Control of Overhead Crane with Uncertainties

Abstract

The aim of overhead crane control is to transport the payload to the desired location rapidly and accurately while simultaneously eliminating swing. To this end, a Model Reference Adaptive Sliding Mode Control (MRASMC) is proposed for overhead crane systems with uncertainties. Specifically, the MRASMC method does not require prior knowledge of the model parameters and friction, whereas this requirement is usually needed in conventional methods. In comparison with Sliding Mode Control (SMC), the proposed method has stronger robustness with respect to extraneous disturbances. Moreover, an adaptive sliding mode controller with a moving surface is designed to avoid the tradeoff between steady-state error and chattering effect. Lyapunov techniques are utilized to prove the convergence and stability of the closed-loop system. Simulation results are presented to illustrate the effectiveness of the proposed controller.