To overcome the undesirable swing caused by inertia during the operation of bridge cranes, an improved reaching law-based Proportional-Derivative sliding mode control(IRL-PD-SMC) method is proposed. This method effectively suppresses the load swing angle while ensuring precise and rapid arrival of the trolley at the target position. Firstly, a generalized error signal is constructed by combining the coupling signals of trolley displacement and load swing angle, and a sliding mode controller is built based on conventional sliding mode control(CSMC) theory. Subsequently, a PD equivalent control component is designed to enhance system stability. Meanwhile, the traditional exponential reaching law is improved by introducing a nonlinear reaching law to reduce system chattering. Finally, the asymptotic stability of the equilibrium point of the closed-loop system is proven using the Lyapunov method and Schur’s lemma. Experimental results show that this controller exhibits excellent positioning and anti-swing performance.
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