Payload pendulation and position control systems for an offshore container crane with adaptive-gain sliding mode control

Abstract

When container ports are not available for heavy ships, the offshore ship-to-ship transfer operation is an alternative method to an inland container terminal. This process is performed between a large container ship and a smaller ship, which is equipped with a container crane, called the mobile harbor or the ship-mounted crane. The sea-state condition is a crucial factor in open-sea operations. The presence of waves, wind, and current disturbances excite the pendulum oscillations of the crane's hanging container. In this study, the problem of payload pendulation and container position for an offshore container crane using an adaptive-gain sliding mode control (SMC) scheme is investigated. The primary control task during the loading and unloading process is to keep the container in the desired region under the harsh oceanic environment. The proposed control architecture incorporates an adaptive-gain SMC with a compensation part and a prediction mechanism. Therein, a sliding surface is design to combine the desired sway motion of the payload with the desired trolley trajectory. Furthermore, a varying control gain is proposed in the sliding control, obtained by an adaption law that transitions the system into sliding mode. By constructing an appropriate Lyapunov function, we show that the proposed control law ensures the asymptotic stability of the ship-mounted crane. Numerical simulations are presented to show the effectiveness and robustness of the proposed control system.