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This method effectively suppresses the load swing angle while ensuring precise and rapid arrival of the trolley at the target position. Firstly, a generalized error signal is constructed by combining the coupling signals of trolley displacement and load swing angle, and a sliding mode controller is built based on conventional sliding mode control(CSMC) theory. Subsequently, a PD equivalent control component is designed to enhance system stability. Meanwhile, the traditional exponential reaching law is improved by introducing a nonlinear reaching law to reduce system chattering. Finally, the asymptotic stability of the equilibrium point of the closed-loop system is proven using the Lyapunov method and Schur\u2019s lemma. Experimental results show that this controller exhibits excellent positioning and anti-swing performance.<\/jats:p>","DOI":"10.1177\/09596518241309126","type":"journal-article","created":{"date-parts":[[2025,1,6]],"date-time":"2025-01-06T07:41:02Z","timestamp":1736149262000},"page":"955-967","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["A PD sliding mode swing suppression control method for bridge cranes with an improved reaching law"],"prefix":"10.1177","volume":"239","author":[{"given":"Dong","family":"Li","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, Liaoning, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-1729-2673","authenticated-orcid":false,"given":"Songming","family":"Hu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, Liaoning, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuangyun","family":"Xing","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, Liaoning, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lu","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Shenyang Build New Building Materials Co., Ltd., Shenyang, Liaoning, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianhu","family":"Xie","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, Liaoning, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-7775-0542","authenticated-orcid":false,"given":"Jingfeng","family":"Yao","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, Liaoning, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2025,1,6]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-019-0400-2"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/0954406218819029"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2017.03.015"},{"key":"e_1_3_2_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-019-05451-2"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2018.01.029"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1515\/ijnsns-2018-0152"},{"key":"e_1_3_2_8_2","doi-asserted-by":"publisher","DOI":"10.1108\/AA-12-2017-183"},{"key":"e_1_3_2_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.ymssp.2017.09.027"},{"key":"e_1_3_2_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.autcon.2021.103954"},{"issue":"2","key":"e_1_3_2_11_2","first-page":"1","article-title":"Using the Bezier curve and particle swarm optimization in trajectory planning for overhead cranes to suppress the payloads\u2019 residual swing","volume":"2018","author":"Liu H","year":"2018","unstructured":"Liu H, Cheng W. 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