Adaptive twisting sliding mode control for overhead cranes

This paper analyzes the model of overhead cranes suffering from uncertain disturbances, then an adaptive twisting sliding mode control scheme for the underactuated overhead cranes with uncertainties is proposed. This method improves the robustness of the crane system by employing a time-varying sliding mode surface. Moreover, self-tuning laws for the twisting controller are developed to resist unknown disturbances exerted on the overhead crane systems. None of the prior information about the upper boundary of uncertainties is required in controller design. The finite time stability of the proposed controller is proven. Simulation study shows the performance of the suggested method.