Adaptive Super-Twisting Sliding Mode Control of Uncertain Underactuated Cranes

This paper investigates the control of uncertain underactuated overhead cranes. An adaptive sliding mode control law and an adaptive super-twisting algorithm for anti-swing position control in a 2-D crane system are developed, accounting for unknown system parameters. The proposed control schemes aim to address uncertain parameters and to mitigate control chattering. The adaptive update laws eliminate the requirement for knowledge of the upper bounds of uncertainties. Through stability analysis, all closed-loop signals are bounded, and asymptotic stability of the equilibria is ensured. Simulations are provided to illustrate the proposed control schemes.