Nonlinear Sliding mode Control of Overhead Crane System

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In this paper, we proposed a nonlinear sliding mode controller to regulate the swinging angle of Overhead Crane System. Roughly speaking, the controller is designed to regulate an output(the swing angle) while providing internal stability. It is difficult to apply many of standard nonlinear control design techniques. In contrast to control that use a command generator and possibly a time-varying feedback, our control law is simple autonomous nonlinear controller. We analyze the stability of the closed-loop system using an $L_2$ Sliding surface conditions approach on a nonlinear feedback linearization of the system about the desired periodic orbit. One can easily extend this approach to analyze the robustness of the control system with respect to disturbances and parameter variations.