Modeling and anti-sway control of boom cranes

This paper presents a sliding mode control algorithm to suppress the sway of the payload caused by operator instructions during the operation of a boom crane. Firstly, established a mathematical model of the boom crane, followed by the design of a sliding mode controller. Based on Lyapunov stability theory, stability analysis was conducted on the system, and finally, simulation analysis was conducted on the boom crane system. The simulation results evince that the proposed sliding mode control algorithm in the boom crane system can effectively suppress the residual sway of the payload, substantiating the availability of the method.