Model-free Adaptive Sliding Mode Control for Double Swing Effect of Bridge Crane

In this paper, a model-free adaptive sliding-mode control method is proposed for the double-swing effect of the overhead crane system. Among them, the model-free adaptive controller can get rid of the influence of mathematical model accuracy on the control system, and the discrete sliding mode controller can effectively reduce the jitter of the system. By analyzing the simulation results, it is proved that the method has the characteristics of short response time and strong robustness to external disturbances and uncertainties.