Load rotation control in crane system using hierarchical sliding mode control combined with particle swarm optimization

This study focuses on controlling the direction of the load in the bridge crane system, aiming to ensure accurate direction control while simultaneously damping the residual oscillation caused by the cable twist. A hierarchical sliding mode control algorithm combined with swarm optimization was proposed to achieve that goal. The stability of the system was proven based on the Lyapunov criterion. An objective function, including the settling time and residual oscillation components, was constructed to determine the controller parameters, and the swarm optimization algorithm was applied to solve the problem of optimizing the objective function. The simulation results showed that the proposed method ensured accurate load direction control with fast residual oscillation damping. Comparisons with the input signal shaping method were also made to demonstrate the superiority of the proposed method.