Sliding mode anti-sway control and disturbance rejection of gantry crane

In this study, a robust sliding mode control (SMC) strategy is suggested for suppression of load sway and rejection of disturbances in gantry cranes. First the dynamic model of gantry crane is derived from the general laws of motion and Lagrangian energy analysis. Then, a proper disturbance rejecting robust SMC mechanism with anti-sway property in conjunction with a Linear Quadratic Regulator (LQR) design is developed. Suggested control system is tested via computer simulations along with traditional Linear Quadratic Regulator (LQR) state feedback control and LQR with Proportional Integral Derivative (PID) control methods. The control simulation results of the crane dynamic model under ideal conditions without friction and actuators is compared. Simulation results reveal that suggested SMC strategy exhibits superior performance in suppressing sway and rejecting disturbances in gantry crane control.