Feasibility test of tracking control to moving target in dual-state trolley control system

In this paper, the performance of tracking control algorithm to apply to the mobile harbor(MH) crane trolley control system is verified with 1/20 scale experiment. MH is a novel maritime cargo transfer system which is recently proposed by KAIST. A relative motion between MH and container ship is caused by external disturbances such as wave and wind because loading/unloading operation of MH system is performed in open-sea condition. It is necessary to control the position of containers to the target position in this condition accurately. Using dual-stage trolley control system of MH which is proposed to control the position of trolley independently, the receding horizon controller is designed to track the moving target position. Through the 1/20 scale model experiments as the frequency of reference signal is changing, the feasibility of tracking control of MH crane system is checked.