ANTI-SWAY CONTROL OF TOWER CRANE BASED ON SLIDING MODE CONTROL

In industrial applications, tower cranes, as crucial lifting equipment, play an essential role. However, due to their inherent underactuated nonlinear characteristics, cranes are often subject to inertial forces and external disturbances during actual operations, leading to load oscillations. Currently, the operation of tower cranes primarily relies on manual control by drivers, which is not only inefficient but also prone to causing residual oscillations in the loads, increasing the risk of safety incidents such as collisions and overturning. To address this issue, this paper proposes a sliding mode control-based method aimed at effectively suppressing the oscillations of the loads on tower cranes, ensuring the stability and reliability of their operation. Through simulation verification, this method provides a new technical solution for the efficient and safe operation of tower cranes.