Adaptive neural network sliding mode control of shipboard container cranes considering actuator backlash

Adaptive neural network sliding mode control of shipboard container cranes considering actuator... Highlights•Propose a robust adaptive control system for a highly under-actuated shipboard crane whereas only two actuators are unitized for controlling six outputs.•The control system works well even the heavy-duty case wherein lifting a container and moving a trolley are simultaneously activated, and the crane undergoes both sea wind and wave excitation.•Not only simulation but also experiment is conducted to clarify the effectiveness of proposed control system. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Mechanical Systems and Signal Processing Elsevier

Adaptive neural network sliding mode control of shipboard container cranes considering actuator backlash

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Publisher
Elsevier
Copyright
Copyright © 2018 Elsevier Ltd
ISSN
0888-3270
eISSN
1096-1216
D.O.I.
10.1016/j.ymssp.2018.04.030
Publisher site
See Article on Publisher Site

Abstract

Highlights•Propose a robust adaptive control system for a highly under-actuated shipboard crane whereas only two actuators are unitized for controlling six outputs.•The control system works well even the heavy-duty case wherein lifting a container and moving a trolley are simultaneously activated, and the crane undergoes both sea wind and wave excitation.•Not only simulation but also experiment is conducted to clarify the effectiveness of proposed control system.

Journal

Mechanical Systems and Signal ProcessingElsevier

Published: Nov 1, 2018

References

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