Anamaria-Ioana Borlea, Radu-Emil Precup, Raul-Cristian Roman

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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 Milosavljević, 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.


Discrete-time model-based sliding mode controllers, Furuta controller, Gao controller, Tower crane systems

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DOI: https://doi.org/10.22190/FUME230125009B


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