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In this paper, the tracking control problem is considered for the payload transportation with an underactuated twodimensional overhead crane. Two sliding mode controllers are designed to perform the trajectory tracking. One is proposed to control hoisting and lowering the suspended payload, and the other one is proposed to control both trolley positioning and payload swaying. Considering the second sliding mode controller is used to control two degrees of freedom (DOFs), a fuzzy inferencedoi:10.22201/icat.16656423.2012.10.4.383 fatcat:txcq6c7gwneqzawoaqbkmn3abi