Trajectory Tracking Control for Offshore Boom Cranes Using Higher-Order Sliding Modes

Ismail, Raja Mohd Taufika Raja; Ha, QP

doi:10.22260/isarc2013/0097

Cited by 4 publications

(1 citation statement)

References 21 publications

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“…In 2013, Ismail and Ha [IH13] used a second-order sliding mode controller to provide anti-sway control for both a planar offshore boom crane and rotary boom crane. In developed controllers for a planar offshore boom crane, with the former applying a neural-network based adaptive controller, and the latter a nonlinear coordination controller.…”

Section: Anti-sway Control In the Literaturementioning

confidence: 99%

Real-Time Operator-in-the-Loop Anti-Sway Control for Shipboard Cranes

Martin¹

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Shipboard cranes play an important role in many maritime operations, however unexpected payload sway due to the motion of the ship or external disturbances creates a hazardous environment for deck personnel. To improve deck safety, the development of anti-sway control systems to reduce undesired payload motion has been of great interest to researchers; however, existing literature has focused primarily on sophisticated nonlinear control strategies that utilize simplified dynamic models, and the consideration of anti-sway control on high-fidelity, high-degree-of-freedom (DOF) crane/ship dynamic systems is lacking. Additionally, anti-sway control systems in the literature are typically developed with little consideration of real-time operatorin-the-loop interaction, and rarely are the human factors of shipboard crane anti-sway The author acknowledges the support and feedback from Dr. Rishad Irani of the Multi-Domain Laboratory at Carleton University, as well as the support of family, friends and peers throughout the development of this work. The author acknowledges the financial support of the Natural Sciences and Engineering Research Council of Canada (NSERC) and the Ontario Graduate Scholarship (OGS). The author also acknowledges the in-kind contribution of ShipMo3D by Dynamic Systems Analysis Ltd. (DSA), as well as the Department of Mechanical and Aerospace Engineering and the School of Information Technology at Carleton University for equipment infrastructure. v Preface The work presented in this dissertation was performed by myself, under the supervision of Dr. Rishad Irani. The subject area was suggested by Dr. Irani, who provided direction and guidance during the course of the project. A version of Chapter 2 has been published [MI21b]. I was the lead investigator and responsible for all major areas of concept formation, investigation, analysis, and manuscript composition. Dr. Irani provided contributions to concept formation and manuscript edits. A version of Chapter 3 has been published [MI21a]. I was the lead investigator and responsible for all major areas of concept formation, investigation, analysis, and

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Section: Anti-sway Control In the Literaturementioning

confidence: 99%