Sliding Mode Control of Overhead Crane

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.

Key Words:

• Sliding mode control
• overhead crane
• load position control
• anti-swing

Additional information

Notes on contributors

Kyuwoong Choi

Kyuwoong Choi received his B.S. degree in mechanical and aerospace engineering form Seoul National University, Seoul South Korea, in 2001, and the M.S. in Electrical engineering from Po-hang University of Science and Technology (POSTECH), Po-hang, South Korea, in 2006. He is currently a doctor course student with the division of electronic and electrical engineering, POSTECH. His research interest includes robust control, underactuated mechanical system control, nonlinear systems and control.

Jin S. Lee

Jin S. Lee received his B.S. degree in electronics engineering from Seoul National University, Seoul, South Korea, in 1975, his M.S. degree in electrical engineering and computer science from the University of Califonia, Berkeley, in 1980, and his Ph.D. degree in system science from the University of California, Los Angeles, CA, in 1984. From 1984 to 1985, he worked as a member of the technical staff at AT&T Bell Laboratories, Holmdel, NJ, and from 1985 to 1989, as a senior member of the engineering staff at GE Advanced Technology Laboratories, Mt Laurel, NJ. Since 1989, he has been a professor at Pohang University of Science and Technology (POSTECH), Po-hang, South Korea. His research interest includes nonlinear systems and control, robotics, intelligent control.