Hierarchical global fast terminal sliding?mode control for a bridge travelling crane system

The bridge crane system is a typical under-actuated that widely used in production and life. Although various scholars have conducted extensive research on the recent years, there are still many problems, such as trajectory planning of cart anti-sway control cargo. In order to tackle problem cargo, hierarchical global fast terminal sliding-mode (H-GFTSMC) developed this work. First, Lagrange equations model dynamics. Then, an appropriate controller designed achieve it proved each surface progressively stable. A series simulations were implemented verify effectiveness method. simulation results show H-GFTSMC has better performance compared with proportional–integral–derivative When changing cable length or adding non-negligible noise system, good robustness.