# Modeling and nonlinear sliding mode controls of double pendulum cranes considering distributed mass beams, varying roped length and external disturbances

> Research article (Mechanical Systems and Signal Processing, 2021) · cited 49× · AI/ML

**Wikidata**: [openalex:W3138189610](https://www.wikidata.org/wiki/openalex:W3138189610)  
**Source**: https://4ort.xyz/entity/modeling-and-nonlinear-sliding-mode-controls-of-double-pendulum-cranes-considering-distributed-mass-beams-varying-roped-