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Continuous Integral Sliding Mode Control of an Offshore Container Crane with Input Saturation

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  • Control Theory and Applications
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Abstract

An offshore container crane is expected to realize high productivity and economic feasibility in the maritime logistics due to its versatile functions for container transportation. However, severe working conditions resulting from the oceanic environment may cause difficulty in its accurate and safe cargo transfer. Specifically, the presence of ship-motion-induced disturbances, wind disturbances and parameter uncertainties in the payload mass and rope length result in positioning errors and large swings during ship-to-ship transportation. For efficient cargo transportation, such control problems should be solved with consideration of physical constraints like control input saturation. Therefore, a continuous integral sliding mode control is developed in this study using a 4-degrees-of-freedom (4-DOFs) dynamic model with input saturation. The control scheme consists of two parts: i) A super-twisting control for disturbance rejection, and ii) a nominal control to drive the state vector to the desired equilibrium point. Therein, the nonlinear integral-type sliding surface is decoupled into two sub-systems, so that the control laws for the lateral and longitudinal trolley dynamics are independently developed. The asymptotic stability of the closed-loop system in consideration of the input saturation is assured by the Lyapunov method. Moreover, simulation results are provided to demonstrate the effectiveness of the proposed control strategy compared with the conventional sliding mode control.

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Authors and Affiliations

  1. School of Mechanical Engineering, Pusan National University, Busan, 46241, Korea

    Gyoung-Hahn Kim

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  1. Gyoung-Hahn Kim
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Correspondence to Gyoung-Hahn Kim.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Quoc Chi Nguyen under the direction of Editor-in-Chief Keum-Shik Hong. This work was supported by the National Research Foundation (NRF) of Korea under the auspices of the Ministry of Science and ICT, Republic of Korea (grant no. NRF-2017R1A2A1A17069430).

Gyoung-Hahn Kim received his B.S. degree in mechanical engineering from Yeungnam University, Gyeongsan, in 2013, and an M.S. degree in mechanical engineering, Pusan National University, Busan, Korea, in 2019. He is currently a Researcher at Pusan National University, pursuing his Ph.D. degree. His research interests include sliding mode control, adaptive neural network control, reinforcement deep learning, control theory, and control applications to industrial robotics.

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Kim, GH. Continuous Integral Sliding Mode Control of an Offshore Container Crane with Input Saturation. Int. J. Control Autom. Syst. 18, 2326–2336 (2020). https://doi.org/10.1007/s12555-019-9852-7

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  • DOI: https://doi.org/10.1007/s12555-019-9852-7

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