Adaptive Sliding-Mode Control of an Offshore Container Crane With Unknown Disturbances

In this paper, an adaptive sliding-mode control (ASMC) for offshore container cranes that load/unload containers from a mega container ship to a smaller vessel is investigated. To withstand the harsh working conditions in the open sea, such as ship motions and winds, a 4-degrees-of-freedom control m...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2019-12, Vol.24 (6), p.2850-2861
Hauptverfasser:	Kim, Gyoung-Hahn, Hong, Keum-Shik
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation models Adaptive control Adaptive sliding-mode control (ASMC) Algorithms Cargo ships Containers Control stability Cranes Decoupling Disturbances Harbors Heuristic algorithms Marine vehicles mobile harbor offshore container crane Offshore drilling rigs Parameter uncertainty Payloads Ship motion Sliding mode control Surface stability underactuated mechanical system Vibration control
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