The double-pendulum (DP) phenomenon, effectuated by the fact that the payload configuration and the chain length between the hook and the payload are usually unknown, is a typical issue in actual cranes. This phenomenon is considered in the current study to enhance tracking accuracy and sway regulation for overhead cranes subject to perturbations and multiple frictions. A novel smooth super-twisting algorithm hybridized with the integral sliding mode control (ISMC) is proposed to solve the problems. The closed-loop system’s finite time stability has been examined using a strict quadratic Lyapunov function. Compared to an existing modified super-twisting algorithm (MSTC), it has been shown that the proposed algorithm mitigates both the sliding surface overshoot and the initial peaking of the control effort that can be encountered using the MSTC algorithm. Furthermore, simulation experiments and error analysis show improved effectiveness of the proposed technology against the existing MSTC and the conventional ISMC technologies. The paper contribution primarily dwells on devising a novel structure of super-twisting algorithm that ensures the nonlinear perturbed DP overhead crane’s desired performance.

在实际的起重机中，典型的问题是双摆（DP）现象，这是由于有效载荷构型以及吊钩与有效载荷之间的链长通常未知而造成的。在当前的研究中考虑了这种现象，以提高受扰动和多摩擦的桥式起重机的跟踪精度和摇摆调节。为解决这些问题，提出了一种与整体滑模控制（ISMC）混合的光滑超扭曲算法。已使用严格的二次Lyapunov函数检查了闭环系统的有限时间稳定性。与现有的改良超扭曲算法（MSTC）相比，已经表明，所提出的算法减轻了滑动表面过冲和使用MSTC算法可能遇到的控制力的初始峰值。此外，仿真实验和误差分析表明，所提出的技术相对于现有的MSTC和常规的ISMC技术具有更高的有效性。本文的贡献主要集中在设计一种新型的超扭曲算法结构上，该算法可确保非线性扰动的DP桥式起重机的理想性能。