Model reference adaptive sliding mode control for three dimensional overhead cranes

An overhead crane transfers the payloads of various volumes and weights depending on the each operation case. The friction factors characterized by damped coefficients can be changed in connection with operating environment. This study develops an adaptive version of sliding mode controller for the overhead cranes without priori information of system parameters composed of cargo mass and damped aspects. The proposed controller simultaneously executes five duties consisted of tracking the trolley and bridge, hoisting the cargo, keeping the payload swings small during the transport process, and absolutely suppressing the cargo vibrations at destination of trolley and bridge. Both simulation and experiment results indicate that the adaptive robust controller asymptotically stabilizes all crane system responses.