Active Control of an offshore container crane
Open sea loading/unloading cargo provides a potential solution to minimize problems related with port construction, expansion and congestion. This process involves a crane attached to a mobile harbor which dynamically handle container from a large container anchored in deep water . The control obje...
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| Main Authors: | , , |
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| Other Authors: | |
| Format: | Conference paper |
| Language: | English |
| Published: |
2019
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| Online Access: | http://repository.vnu.edu.vn/handle/VNU_123/67099 |
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| Institution: | Vietnam National University, Hanoi |
| Language: | English |
| Summary: | Open sea loading/unloading cargo provides a potential solution to minimize problems related with port construction, expansion
and congestion. This process involves a crane attached to a mobile harbor which dynamically handle container from a large container anchored in deep water . The control objective during the operation is to keep the payload in the desired position
under the presence of ocean waves. This paper presents a robust control strategy for trajectory tracking and sway suppression of an offshore container crane. The asymptotic stability of closed- loop system is guaranteed by a control law derived for the purpose. Experimental results are provided to indicate the efficiency of the proposed control strategy |
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