Abstract
This paper presents a second-order sliding mode (SOSM) control for oscillation attenuation in a five degrees of freedom (5DOF) overhead crane. Furthermore the paper illustrates how the prefilter can be advantageously combined with the SOSM controller to obtain a better performance in the oscillation attenuation problem. Additionally, we present a comparison with the well known proportional-derivative (PD) controller. The performance of the controllers is simulated in a nonlinear model and tested experimentally on a scale model of 5DOF overhead crane.
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