A Novel Sliding Mode Control with Low-Pass Filter for Nonlinear Handling Chain System in Container Ports

Abstract

Nonlinearities in a container port handling chain include mainly nonnegative arrive rate of container cargoes, limited container handling completion rate, and nonnegative unsatisfied freight requirement constraints. The nonlinearity influences the operation resources availability and consequently the planned container port handling strategies. Developments presented in this work are devoted to a novel design of sliding mode control with low-pass filter (SMC-LPF) to nonlinear handling chain system (HCS) in container ports. The SMC-LPF can effectively reduce unsatisfied freight requirement of the HCS and make chattering decrease significantly. To illustrate the effectiveness and accuracy of the proposed SMC-LPF, an application to a real container port in China is outlined. The performances of the SMC-LPF for the nonlinear HCS in container ports outperform those of the traditional method, particle swarm optimization algorithm, and slide mode control under simulations with a unit step signal and a sinusoidal signal with offset as the freight requirements. The contributions herein demonstrate the proposed control strategy in weakening chattering, reducing the unsatisfied freight requirements to 0 as close as possible in the HCS, maximizing the operation resilience and robustness of port and shipping supply chain against parametric perturbation, external disturbances, and fluctuant handling abilities.

Exploring the Resilience of Uncertain Nonlinear Handling Chain Systems in Container Ports With a Novel Sliding Mode Control

“…Thirdly, the actual HCS in container ports requires small steady-state error, fast and good robustness, strong resilience, which has led great difficulties to design an appropriate control strategy. The control approaches can improve the performance by optimizing control decisions on the system behaviors (Xu et al, 2019; [2,20]. In these cases, it can be observed [22][23][24][25].…”

“…In summary, few scholars have considered the uncertainty in the nonlinear HCS of container ports from a control viewpoint (Xu et al, 2019; [2,20], which is the core of this work. It is very constructive and meaningful to use control techniques to evaluate the robustness and resilience of the HCS in case of uncertainty of container ports, since in many real cases the freight demand of containers might vary due to many different aspects.…”

“…To satisfy two nonlinear segments, it is set that u -=0 and u + =COMRATE m [20]. To make the sliding mode area as large as possible, it is set that…”

A Decentralized Low-Chattering Sliding Mode Formation Flight Controller for a Swarm of UAVs

“…Another solution is the use of a second-order SMC (SOSMC) [21,22], which uses the integral of the chattering signal as control input of a plant. A generalization of the second-order SMC is the low-pass filter (LPF) [23][24][25][26]. The integral, or the more general low-pass filter, is included as part of the plant model, which improves precision.…”

“…• uses the robust sliding mode control technique [8,11,18,19]; • has low-chattering with low degradation in performance by the use of a low-pass filter modelled as a plant component [23][24][25][26]; • uses a variant of the LPF SMC that is mathematically and computationally simpler than the usual approach, and removes computation of higher-order derivatives [24]; • is a multi-agent decentralized/synchronous approach [18,23].…”