Active control of an offshore container crane

Publication Type:
Conference Proceeding
ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, 2015, pp. 773 - 778
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© 2015 Institute of Control, Robotics and Systems - ICROS. Open sea loading/unloading cargos provides a potential solution to tack the problem related with port construction, expansion and congestion. This process involves a crane attached to a mobile harbor (MH) which can dynamically handle container from a large container anchored in deep water. The control objective during the operation is to maintain the payload in the desired position in the presence of ocean waves. This paper presents a robust control strategy for trajectory tracking and sway suppression of an offshore container crane. A fuzzy sliding mode control law is proposed for that. Experimental results are provided to indicate the efficiency of the proposed control strategy.
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