Discrete-time model-based sliding mode controllers for tower crane systems

This paper applies three classical and very popular discrete-time model -based sliding mode controllers, namely the Furuta controller, the Gao controller, and the quasi -relay controller due to Milosavljevic, to the position control of tower crane systems. Three single input-single output (SISO) control systems are considered, for cart position control, arm angular position control and payload position control, and separate SISO controllers are designed in each control system. Experimental results are included to support the comparison of the three plus three plus three sliding mode controllers.