Payload pendulation and position control systems for an offshore container crane with adaptive‐gain sliding mode control

Abstract

When container ports are not available for heavy ships, the offshore ship‐to‐ship transfer operation is an alternative method to an inland container terminal. This process is performed between a large container ship and a smaller ship, which is equipped with a container crane, called the mobile harbor or the ship‐mounted crane. The sea‐state condition is a crucial factor in open‐sea operations. The presence of waves, wind, and current disturbances excite the pendulum oscillations of the crane's hanging container. In this study, the problem of payload pendulation and container position for an offshore container crane using an adaptive‐gain sliding mode control (SMC) scheme is investigated. The primary control task during the loading and unloading process is to keep the container in the desired region under the harsh oceanic environment. The proposed control architecture incorporates an adaptive‐gain SMC with a compensation part and a prediction mechanism. Therein, a sliding surface is design to combine the desired sway motion of the payload with the desired trolley trajectory. Furthermore, a varying control gain is proposed in the sliding control, obtained by an adaption law that transitions the system into sliding mode. By constructing an appropriate Lyapunov function, we show that the proposed control law ensures the asymptotic stability of the ship‐mounted crane. Numerical simulations are presented to show the effectiveness and robustness of the proposed control system.

Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

“…Mechanical antiswing is to reduce the swing by consuming the energy of payload swing by the mechanical method. For the above two antiswing methods, many studies have been conducted by scientific researchers [29][30][31][32][33][34][35][36][37][38][39][40].…”

“…e electronic antiswing method usually combines computers, sensors, and motors into a system, but the complex control system greatly increases the cost of the crane system and energy consumption of the control process. Ngo et al [29] investigated the problem of payload pendulation and container position for an offshore container crane using an adaptive-gain sliding mode control (SMC) scheme. Yang et al [30] designed a neural network-based adaptive control method, which is based on a 2D sliding surface.…”

LMI based antiswing adaptive controller for uncertain overhead cranes

“…However, in general, the open-loop control system can not guarantee the good performance in the case of system uncertainties and external disturbances. Therefore, many closed-loop control techniques are applied to the overhead crane system to improve the performance such as nonlinear feedback [7][8][9][10][11], partial feedback linearization [12,13], fuzzy logic control [14][15][16][17], sliding mode control [18][19][20][21] and so on.…”

A pure neural network controller for double‐pendulum crane anti‐sway control: Based on Lyapunov stability theory

“…Ngo et al. [15] proposed an adaptive‐gain SMC with a prediction mechanism to estimate the external disturbances. The aforementioned control strategies of this paragraph require full states feedback.…”

“…Model-free control strategies [13,14] are designed to improve the robustness w.r.t uncertain parameters, such as payload mass and cable lengths. Ngo et al [15] proposed an adaptive-gain SMC with a prediction mechanism to estimate the external disturbances. The aforementioned control strategies of this paragraph require full states feedback.…”