Backstepping aggregated sliding-mode motion control for automatic 3D overhead cranes

This paper presents novel methodologies for modeling and backstepping aggregated sliding-mode motion control of a 3D overhead crane. Lagrangian mechanics is adopted to establish a mathematical model of the system with frictions. A backstepping sliding-mode control method is used to maintain the nutation angle at zero and achieve trajectory tracking simultaneously. The effectiveness and merit of the proposed controller are exemplified by conducting several simulations on a real 3D overhead crane.