A Novel Anti-Swing Positioning Controller for Two Dimensional Bridge Crane via Dynamic Sliding Mode Variable Structure

摘要

To improve the control performance of anti-swinging and the orientation of two-dimensional bridge crane, a novel dynamic sliding mode variable structure control algorithm is presented here. The proposed controller can ensure global stability through improved design of sliding surface for the drive control force, and obtain the continuous driving control force in time domain, by using the Sigmoid function for switching function to suppress chattering. Experimental results demonstrated that it is effective on chattering suppression, swing reduction, and robust with various load qualities and friction resistances.