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

Shipping and stevedoring industry is going to witness a massive increase in the amount of containers to be handled while land constraints become more critical. Offshore transfer operations hence offer a preferable solution to deal with the surge in cargos rather than to expand the port outwards. Recently, there has been increasing research interests on offshore crane automation. Suspended cargos in a ship-mounted crane system are caused to swing due to the vibratory motion of the ship induced by ocean waves, which can lead to collision between cargos and deck. Therefore, it is vital for offshore crane systems to satisfy rigorous requirements in terms of safety and efficiency. This paper presents the modelling and control development for offshore boom crane systems. A second-order sliding mode control law is proposed for trajectory tracking and sway suppression control, making use of its capability of actuator chattering alleviation while achieving high tracking performance and preserving strong robustness. The asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the proposed controller can significantly reduce the effect of disturbances coming from gusty waves and other dynamic loadings.