Abstract
In this paper, a control scheme of a container crane that is installed on a small vessel, which is used for loading and unloading containers from a large vessel that cannot access a port because of shallow water, is investigated. Control objectives are to move a container to a desired position as well as to suppress the transverse vibration of the container under ship motions using nonlinear control. The control law guarantees the asymptotically stability of the closed-loop system. Simulation results are presented to demonstrate the efficiency of the proposed algorithm.
