This article constructs two robust controllers using sliding mode control (SMC) techniques. The ship-crane system is operated in the complicated condition in which the disturbances due to viscoelasticity of seawater and the flexibility of handling cable are fully taken into account. With two actuators composed of trolley-moving force and container-hoisting torque, the controllers 

This study proposes two robust controllers for a ship-mounted container crane based on the back-stepping sliding mode control technique. The ship crane system is operated under complex conditions, in which the disturbances caused by the viscoelasticity of seawater and the flexibility of handling wire ropes are fully considered.

This study constructs an original mathematical model of a shipboard container crane and proposes a nonlinear controller for the complicated operation duties in which the viscoelasticity of seawater and the flexibility of handling cable are taken into account. By using two inputs, namely, the pulling force of the trolley and the torque of the hoist, the controller simultaneously drives six outputs, including trolley motion, cable length, container swing, axial container oscillation, ship roll, and ship heave.

This study proposes a second-order sliding mode controller for 3D overhead cranes in an extremely complicated operation. Three actuators composed of trolley moving, bridge travelling, and cargo-hoisting forces simultaneously drive five outputs comprising bridge motion, trolley translation, cable length, and two payload swing angles. Simulation and experiment were performed to investigate controller qualities. The proposed controller asymptotically stabilizes and consistently maintains system response even when some system parameters were widely varied.