Modelling and robust trajectory following for offshore container crane systems

• Published in: Automation in construction Vol. 59; pp. 179 - 187
• Main Authors: Raja Ismail, R.M.T., That, Nguyen D., Ha, Q.P.
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.11.2015
• Subjects: Containers; Controllers; Cranes; Disturbances; Linear quadratic regulator (LQR); Lyapunov; Ocean wave; Offshore; Offshore construction; Offshore crane; Offshore engineering; Sliding mode control; Strong wind; Trajectories; Ocean wave; Strong wind; Offshore crane; Sliding mode control; Lyapunov; Linear quadratic regulator (LQR)

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...