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

Abstract

Uncertain handling chain system (HCS) of container ports brings steady-state error to the original control decisions, and even worse, dramatically degrades the system performance. The steady-state error will cause unsatisfied freight requirement to be much higher than the expected value for a long time, resulting in the decrease of system robustness and resilience. In this work, a novel sliding mode control with power integral reaching law (SMC-P) is presented for nonlinear HCS of container ports under uncertainty. Specifically, the integral of system state variable, the exponential reaching law and the power of the switching function are integrated to the traditional reaching law. And it is proven that the eliminated steady-state error, the accelerated approach speed, and the reduced chattering can be effectively obtained by SMC-P. A nonlinear HCS in container ports with uncertain freight requirement and handling ability is considered. SMC-P is compared with traditional method, genetic algorithm, quasi-sliding mode control and integral sliding mode control. Simulation results show that SMC-P does not only balance both steady-state error reduction and chattering avoidance caused by uncertainty, but also optimize the performance, robustness, and resilience of the uncertain nonlinear HCS. This study also brings economic and sustainability contributions for port authorities. INDEX TERMS Resilience, uncertain nonlinear handling chain system, sliding mode control, power integral reaching law