Work

Robust Control of Offshore Container Cranes: 3D Trajectory Tracking Under Marine Disturbances

Year: 2025

Type: article

Abstract: This paper develops accurate three-dimensional trajectory tracking and anti-sway control strategies for offshore container cranes operating in an open-sea environment. A 5-DOF nonlinear dynamic model is developed that simultaneously accounts for the crane’s structural motion, trolley movement, spreader hoisting with variable rope length, and both lateral and longitudinal payload sway. The model further incorporates external disturbances induced by wave-excited ship motions. To ensure smooth, efficient, and accurate load transportation from the initial to the target position, an effective trajectory-planning scheme is proposed using a quintic polynomial trajectory refined by a ZVD shaper to suppress residual oscillations. A sliding mode control method is then designed to achieve accurate trajectory tracking and load-sway suppression under external disturbances. Numerical simulations demonstrate that the proposed trajectory planning method effectively reduces the residual oscillations and verifies the effectiveness and robustness of the proposed sliding mode control strategy.

Source: Machines

DOI: 10.3390/machines14010013

Authors: Ao Li, Shuzhen Li, Phuong-Tung Pham, Keum-Shik Hong

Institutions: Qingdao University, Ho Chi Minh City University of Technology, Pusan National University

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,896