Sliding Mode Control of Overhead Crane Based on High Gain Observer

A variable structure sliding mode controller based on high gain observer is proposed for two-dimensional underactuated bridge crane to realize rapid positioning of the trolley and anti swing of the load. Using the separation theorem, the real value in the control law is directly replaced by the value of the observer to control the overhead crane. The simulation results show that the control method can realize the trolley positioning and load angle stabilization, and can well suppress the disturbance, with good control effect.