Anti-Swing System Control of Container Crane Based on Sliding-mode Method

To a kind of under-actuated systems.An anti-swing controller based on sliding-mode method for overhead crane is presented.The mathematical model of the overhead crane is dealed.Two kinds of sliding-mode controller are designed.The model is controled by a single-input sliding-mode.The effectiveness of the sliding-mode is proved by lyapunov method.Simulation results show the validity of the method for the anti-swing control of overhead cranes.