Adaptive Robust Ability of High Order Sliding Mode Control for a 3-D Overhead Crane System

Abstract

Traditionally, 3-D overhead crane systems are widely used in industry and automatic operation would reduce the risk. It is difficult to precisely position the payload in overhead crane due to the lack of actuators in this system. This paper develops an adaptive robust ability of high – order sliding mode controller (HOSMC). The finite time stability of the closed-loop system is proved without traditional Lyapunov theory. The results based on suitable second-order sliding surface and super – twisting controller. Simulation studies are performed to demonstrate the validity of the proposed control scheme.