Abstract
In this paper a sliding mode control algorithm for cable suspended loads subject to
acceleration and velocity constraints is presented. The algorithm guarantees the reaching phase
elimination. Moreover, it ensures fast and monotonic system error convergence to zero without
violating the acceleration and velocity constraints. At the initial time t = t0 the switching line
passes through the representative point of the system in the error state space. Afterwards, the line
moves with a constant velocity and a constant angle of inclination to the origin of the space and
having reached the origin it stops moving. By this means insensitivity of the system with respect to
external disturbance and model uncertainty from the very beginning of the control action is
ensured. Parameters of the line are selected in such a way that Integral Absolute Error (IAE) is
minimised.
