Adaptive sliding mode control of 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 cargo mass and damped aspects. The 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 destinations of trolley and bridge. The simulation results indicate that the controller asymptotically stabilizes all system responses.