Barrier Sliding Mode Control for a Hydraulic Actuated Crane

  • Alberto Ismael Castillo Lopez (Speaker)

Activity: Talk or presentationTalk at workshop, seminar or courseScience to science


An implementation scheme of independent joint control for a four-degree-of-freedom heavyduty hydraulic actuated crane is proposed. The implementation consists of two Sliding Mode Controllers with variable barrier function gains which allow robust tracking of a with alleviation of high frequency oscillations. Experimental results are presented to show the effectiveness of the proposed semi-automation scheme, exploiting the forestry application motivated low accuracy requirement.
Period11 Sept 2019
Event title21. Styrian Workshop on Automatic Control
Event typeWorkshop
Location Leitring/Wagna, AustriaShow on map
Degree of RecognitionInternational


  • Hydraulic Engineering
  • sliding mode control