An Enhanced Coupling Adaptive Sliding Mode Control Method for Casting Cranes Based on Radial Spring Damping

Table 2

The controller parameter table.

ECASMC method	CSMC method	VP-TVSMC method
k1 = 0.01, k2 = 1, ks = 4, η = 0.5	k1 = 0.01, γ = 0.8, α = 2, β = 0.6	μ1 = 2.05, μ2 = 1.05, μ3 = 0.89,
λ = 1.1, kσ = 8, kα = 6, kβ = 30	kτ = 0.5, σ = 1	λ1 = 1.54, λ2 = 0.06, λ3 = 1,  = 2.95, ζ = 0.76