Modelling and Robust Trajectory Following for Offshore Container Crane Systems

In stevedoring operations, the ship-to-ship transfer of containers in open-sea is becoming an alternative way to avoid port congestion and subsequently can increase port efficiency. This process involves a large container ship or a barge, equipped with a crane, and a smaller vessel which transports...

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Main Authors:	Raja Mohd Taufika, Raja Ismail, That, Nguyen D., Ha, Q. P.
Format:	Article
Language:	English
Published:	Elsevier Ltd 2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/10495/ http://umpir.ump.edu.my/id/eprint/10495/ http://umpir.ump.edu.my/id/eprint/10495/ http://umpir.ump.edu.my/id/eprint/10495/1/Modelling%20and%20Robust%20Trajectory%20Following%20for%20Offshore%20Container%20Crane%20Systems.pdf

id	ump-10495
recordtype	eprints
spelling	ump-104952018-03-19T04:07:26Z http://umpir.ump.edu.my/id/eprint/10495/ Modelling and Robust Trajectory Following for Offshore Container Crane Systems Raja Mohd Taufika, Raja Ismail That, Nguyen D. Ha, Q. P. TK Electrical engineering. Electronics Nuclear engineering In stevedoring operations, the ship-to-ship transfer of containers in open-sea is becoming an alternative way to avoid port congestion and subsequently can increase port efficiency. This process involves a large container ship or a barge, equipped with a crane, and a smaller vessel which transports containers between the ship and the harbour. However, the harsh open-sea conditions can produce exogenous disturbances to the crane system during the load transfer. Besides, the uncertainties and disturbances in the crane system may degrade the control performance. Hence, one of the requirements of offshore container cranes is to enhance robustness of the crane control system. This paper addresses the problem of robust sliding mode control for offshore container crane systems subject to bounded disturbances and uncertainties. The mathematical model of the control plant is first derived whereas the effects of ocean waves and strong winds are taken into account. Then, a robust sliding mode controller is proposed to track an optimal trajectory of the crane system during load transfer. Extensive simulation results are given to show that the proposed controller can significantly suppress the effects of disturbances from the vessel's wave- and wind-induced motion. Elsevier Ltd 2015 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10495/1/Modelling%20and%20Robust%20Trajectory%20Following%20for%20Offshore%20Container%20Crane%20Systems.pdf Raja Mohd Taufika, Raja Ismail and That, Nguyen D. and Ha, Q. P. (2015) Modelling and Robust Trajectory Following for Offshore Container Crane Systems. Automation in Construction, 59. pp. 179-187. ISSN 0926-5805 http://dx.doi.org/10.1016/j.autcon.2015.05.003 doi: 10.1016/j.autcon.2015.05.003
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Raja Mohd Taufika, Raja Ismail That, Nguyen D. Ha, Q. P. Modelling and Robust Trajectory Following for Offshore Container Crane Systems
description	In stevedoring operations, the ship-to-ship transfer of containers in open-sea is becoming an alternative way to avoid port congestion and subsequently can increase port efficiency. This process involves a large container ship or a barge, equipped with a crane, and a smaller vessel which transports containers between the ship and the harbour. However, the harsh open-sea conditions can produce exogenous disturbances to the crane system during the load transfer. Besides, the uncertainties and disturbances in the crane system may degrade the control performance. Hence, one of the requirements of offshore container cranes is to enhance robustness of the crane control system. This paper addresses the problem of robust sliding mode control for offshore container crane systems subject to bounded disturbances and uncertainties. The mathematical model of the control plant is first derived whereas the effects of ocean waves and strong winds are taken into account. Then, a robust sliding mode controller is proposed to track an optimal trajectory of the crane system during load transfer. Extensive simulation results are given to show that the proposed controller can significantly suppress the effects of disturbances from the vessel's wave- and wind-induced motion.
format	Article
author	Raja Mohd Taufika, Raja Ismail That, Nguyen D. Ha, Q. P.
author_facet	Raja Mohd Taufika, Raja Ismail That, Nguyen D. Ha, Q. P.
author_sort	Raja Mohd Taufika, Raja Ismail
title	Modelling and Robust Trajectory Following for Offshore Container Crane Systems
title_short	Modelling and Robust Trajectory Following for Offshore Container Crane Systems
title_full	Modelling and Robust Trajectory Following for Offshore Container Crane Systems
title_fullStr	Modelling and Robust Trajectory Following for Offshore Container Crane Systems
title_full_unstemmed	Modelling and Robust Trajectory Following for Offshore Container Crane Systems
title_sort	modelling and robust trajectory following for offshore container crane systems
publisher	Elsevier Ltd
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/10495/ http://umpir.ump.edu.my/id/eprint/10495/ http://umpir.ump.edu.my/id/eprint/10495/ http://umpir.ump.edu.my/id/eprint/10495/1/Modelling%20and%20Robust%20Trajectory%20Following%20for%20Offshore%20Container%20Crane%20Systems.pdf
first_indexed	2023-09-18T22:10:10Z
last_indexed	2023-09-18T22:10:10Z
_version_	1777414973813686272

Modelling and Robust Trajectory Following for Offshore Container Crane Systems

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