Adaptive sliding mode control for underactuated ship-mounted cranes with dead zones and actuated/unactuated state constraints

Xin Zhang, Zengcheng Zhou, Yihao Shi, Ming Li, Wei Peng, Chen Song, Zhi Li, Xingong Cheng, Menghua Zhang

Abstract: Highlights•An adaptive sliding control is proposed for ship-mounted cranes under actuated/underactuated constraints.•The boom and the rope to their intended locations in a finite amount of time.•The cantilever and payload swing angles are efficiently constrained to predetermined ranges.•The intrinsically complicated nonlinear dynamics of ship-mounted cranes do not require linearization.

External IDs:doi:10.1016/j.oceaneng.2025.122275