Anti-sway control of offshore crane on surface vessel using global sliding mode control
Mohammad Saghafi Zanjani, Saleh Mobayen
Abstract
In this paper, the global sliding mode control technique is designed for anti-sway control of offshore crane mounted on surface vessel. The offshore cranes are responsible for moving containers from mega container ships to a smaller vessel. In this regard, after introducing the dynamics of the crane mounted on the surface vessel, the sliding surfaces and control laws are designed to maintain the stability of the system against external disturbances such as sea waves and wind induced movements. Furthermore, using the Lyapunov’s stability analysis, it is proven that the position/ velocity errors are converged to the origin. Finally, to determine the effectiveness of the proposed method, the simulation results of the global sliding mode control technique are compared to those of the continuous integral sliding mode control and proportional–integral–derivative approaches. The development of this procedure due to its high productivity and economic feasibility can be used as a new tool in the modern maritime industry.