Abstract
We propose a sliding mode load position controller for an overhead crane to cope with large load variations. The controller is developed using the input—output decoupling control laws obtained by the dynamic extension technique. But, due to unknown load mass, it is difficult to design a decoupling control law which exactly cancels out all the nonlinearities. To overcome the problem, we propose a sliding mode controller coupled with the input—output decoupling control law. The simulation results show that the proposed controller performs well under significant load variations.
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