Second-order sliding mode control for offshore container cranes

Raja Ismail, RMT; Ha, QP

Second-order sliding mode control for offshore container cranes

Raja Ismail, RMT Ha, QP

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Publication Type:: Conference Proceeding
Citation:: Australasian Conference on Robotics and Automation, ACRA, 2012
Issue Date:: 2012-12-01

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Field	Value	Language
dc.contributor.author	Raja Ismail, RMT	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.date.issued	2012-12-01	en_US
dc.identifier.citation	Australasian Conference on Robotics and Automation, ACRA, 2012	en_US
dc.identifier.isbn	9780980740431	en_US
dc.identifier.issn	1448-2053	en_US
dc.identifier.uri	http://hdl.handle.net/10453/31553
dc.description.abstract	Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for trajectory tracking and sway suppression of an offshore container crane. From the proposed control law, the asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the developed control system can achieve high performance in trajectory tracking and swing angle suppression despite the presence of parameter variations and external disturbances as in the case of offshore cranes.	en_US
dc.relation.ispartof	Australasian Conference on Robotics and Automation, ACRA	en_US
dc.title	Second-order sliding mode control for offshore container cranes	en_US
dc.type	Conference Proceeding
utslib.for	090602 Control Systems, Robotics and Automation	en_US
dc.location.activity	Victoria University of Wellington, New Zealand
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US

Abstract:

Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for trajectory tracking and sway suppression of an offshore container crane. From the proposed control law, the asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the developed control system can achieve high performance in trajectory tracking and swing angle suppression despite the presence of parameter variations and external disturbances as in the case of offshore cranes.

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http://hdl.handle.net/10453/31553