Swing Suppression and Positioning Control of Tower Cranes Based on Sliding Mode Control Method

Addressing the precise positioning and swing suppression problem of tower cranes exhibiting payload oscillations in three-dimensional space, while considering combined moving and slewing operation conditions, a novel sliding mode variable structure control scheme is developed for swing suppression. The tower crane architecture is decomposed into a positioning accuracy control module and a swing motion suppression module. Both subsystems are integrated into composite sliding surfaces, and a control law is designed based on this surface. The results demonstrate that system parameters significantly influence payload oscillations, whereas the proposed method effectively attenuates swing angle amplitudes, exhibits strong robustness, and shows insensitivity to system parameters.