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Journal of Vibration and Control
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Sliding Mode Control of a Three-dimensional Overhead Crane

Naif B. Almutairi

College of Engineering and Petroleum, Kuwait University, P.O. Box 5969, Safat 13060, Kuwait, naif{at}eng.kuniv.edu.kw

Mohamed Zribi

College of Engineering and Petroleum, Kuwait University, P.O. Box 5969, Safat 13060, Kuwait

This paper deals with the sliding mode control of a three-dimensional overhead crane. The model of the crane consists of five highly nonlinear second-order ordinary differential equations. The crane is an underactuated system, which makes the design of its controllers intricate. A sliding mode control scheme is proposed for the crane. This scheme, which guarantees the asymptotic stability of the closed-loop system, has two objectives: position regulation and anti-swing control. The performance of the closed-loop system is simulated using MATLAB. The simulation results indicate that the proposed control scheme works well. In addition, the robustness of the controller with respect to uncertainties in the crane parameters is investigated through simulations. It is found that the controller is robust to changes in the parameters. Moreover, since some of the states of the system are not measurable, a Luenberger-type observer is proposed. Simulation of the controlled system using the observer-based sliding mode controller produced good results.

Key Words: Three-dimensional overhead crane • Luenberger-type observer • sliding mode control • underactuated systems.

This version was published on November 1, 2009

Journal of Vibration and Control, Vol. 15, No. 11, 1679-1730 (2009)
DOI: 10.1177/1077546309105095
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