Antiswing Sliding Mode Control of Overhead Cranes with a Finite-Time Disturbance Observer

In this paper, based on a finite-time disturbance observer, a sliding mode control strategy is proposed for the antiswing control of overhead cranes, which can easily deal with the presence of unpredictable disturbances. To be specific, the original crane model firstly is transformed into a chained form. Then, with the help of finite-time observer, a novel nonlinear controller is designed to regulate the trolley to the desired position and realize the antiswing control of payload, while also avoiding chattering and singularity. Additionally, Lyapunov techniques are utilized to guarantee the performance of the closed-loop system. Finally, experimental results are used to verify the effectiveness of the suggested method.