Hybrid Adaptive Weighted Sliding Mode Control for Sway Suppression of a Gantry Crane System

Abstract

This paper presents a new adaptive weighted sliding mode scheme with input shaper for sway suppression of a gantry crane system. The presented control approach combines an adaptive algorithm to a weighted-sliding controller with an input shaping technique. Input shaping reduces the transient sway and weighted sliding mode controller has multiple sliding surfaces of nonlinear gantry crane system using a single actuator. Adaptive algorithm is applied to estimate the upper bound of uncertainties and external disturbance. The stability of the closed loop system is analyzed using Lyapunov stability theory. The performances of the new hybrid control scheme are proved in MATLAB SIMULINK. Simulation results show that the presented control scheme can be used for sway suppression and precise cart positioning in the presence of uncertainties.