Stabilizing control of bridge crane system using fixed-time hierarchical sliding mode method

2025 · doi:10.22541/au.174013058.89811057/v1
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Abstract

The bridge crane system has been widely used in industrial production. This mechanical system is a typical underactuated system that has one control input and two degrees of freedom (DOF). This paper discusses the stabilizing control problem for this 2-DOF underactuated mechanical system. A fixed-time hierarchical sliding mode control method is developed. The method firstly constructs two first-level sliding surfaces and a second-level sliding surface for the bridge crane system. Then, a sliding mode controller is designed to stabilize the second-level sliding surface at the origin within a fixed time. It guarantees the fixed-time convergence of two first-level sliding surfaces at the origin. This further ensures the system’s fixed-time stabilizing control objective to be achieved. Numerical simulation experiment results verify the effectiveness of the presented method.
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Abstract

The bridge crane system has been widely used in industrial production. This mechanical system is a typical underactuated system that has one control input and two degrees of freedom (DOF). This paper discusses the stabilizing control problem for this 2-DOF underactuated mechanical system. A fixed-time hierarchical sliding mode control method is developed. The method firstly constructs two first-level sliding surfaces and a second-level sliding surface for the bridge crane system. Then, a sliding mode controller is designed to stabilize the second-level sliding surface at the origin within a fixed time. It guarantees the fixed-time convergence of two first-level sliding surfaces at the origin. This further ensures the system’s fixed-time stabilizing control objective to be achieved. Numerical simulation experiment results verify the effectiveness of the presented method. Supplementary Material File (ijrnc-lan.pdf) - Download - 298.80 KB Information & Authors Information Version history Peer review timeline Published International Journal of Robust and Nonlinear Control Version of Record6 Jan 2026Published Copyright This work is licensed under a Non Exclusive No Reuse License. Collection

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Authors Metrics & Citations Metrics Article Usage 261views 183downloads Citations Download citation Weicheng Lan, Ancai Zhang, xiao Liang, et al. Stabilizing control of bridge crane system using fixed-time hierarchical sliding mode method. Authorea. 21 February 2025. DOI: https://doi.org/10.22541/au.174013058.89811057/v1 DOI: https://doi.org/10.22541/au.174013058.89811057/v1 If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download. For more information or tips please see 'Downloading to a citation manager' in the Help menu.

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last seen: 2026-05-20T01:45:00.602351+00:00