Sliding Mode Control of Non-linear Double-Pendulum Overhead Cranes with Prescribed Trolley Convergence

Modeling and control of overhead cranes: A tutorial overview and perspectives

“…Note that the SMCs in this topic usually need full-state feedback. SMC with a nonlinear sliding surface has also been introduced for the single-pendulum [133] with variable length cable and double-pendulum [181,50,214] systems. The SMC designed for the double pendulum system in [50] does not require the payload feedback, i.e., secondary sway (θ 2 ), length of the second link (l 2 ), and the payload mass (m 2 ).…”