TRƯỜNG ĐẠI HỌC HÀNG HẢI VIỆT NAM

VIETNAM MARITIME UNIVERSITY

Advanced sliding mode control of floating container cranes

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 

Combined controls of floating container cranes

We construct two controllers for floating container cranes based on the combination of feedback linearization, sliding mode, and proportional-derivative controls. The disturbances composed of viscoelasticity of sea water, elasticity of suspended wire rope, and sea-excited motions of ship are fully considered. The controllers simultaneously conduct four duties: tracking the trolley to reference, lifting the container to desired cable length, reducing the axial container oscillation and container swing.

Robust controls for ship-mounted container cranes with viscoelastic foundation and flexible hoisting cable

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.

Second-order sliding mode control of a 3D overhead crane with uncertain system parameters

This paper proposes a second-order sliding mode controller for a three-dimensional overhead crane in an extremely complicated operation with uncertain system parameters. Three actuators composed of trolley-moving, bridge-traveling, and cargo-hoisting forces simultaneously drive fine outputs comprising bridge motion, trolley translation, cable length, and two payload swing angles. Simulation and experiment are performed to investigate the controller qualities.

Combined control with sliding mode and partial feedback linearization for 3D overhead cranes

A 3D overhead crane is an underactuated system consisting of five outputs: trolley position, bridge translation, cable length, and two cargo swings. These outputs are controlled by three actuators for cargo hoisting, trolley motion, and bridge traveling. This study proposes the use of a nonlinear controller that performs five tasks concurrently: cargo hoisting, trolley tracking, bridge motion, payload vibration suppression during transport, and cargo swing elimination at the destination.

Model reference adaptive sliding mode control for three dimensional overhead cranes

An overhead crane transfers the payloads of various volumes and weights depending on the each operation case. The friction factors characterized by damped coefficients can be changed in connection with operating environment. This study develops an adaptive version of sliding mode controller for the overhead cranes without priori information of system parameters composed of cargo mass and damped aspects.

Nonlinear feedback control of container crane mounted on elastic foundation with the flexibility of suspended cable

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.