A Double-Sliding Surface Based Control Method for Underactuated Cranes

In this paper, a novel sliding mode control law is proposed for 2-dimensional(2D) underactuated overhead cranes. Considering system uncertainties including external disturbances, system frictions and air resistances, this sliding controller is put forward without approximately decoupling or linearizing the complicated nonlinear model of 2D overhead cranes. The proposed controller can accurately position the cart as well as suppress the payload swing even in the presence of uncertainties of system parameters. The stability of the closed-loop system is proved by Lyapunov techniques and LaSalle's Invariance Principle. Simulation results also demonstrate the effectiveness of the proposed methodology.