Modeling and Integral Hierarchical Sliding-Mode Control for 2D Ship-mounted Crane

This study focuses on the modeling and a control design based on integral hierarchical sliding mode control structure for a 2D offshore crane. The container crane mounted on a ship is taken into consideration and its modeling is derived using the Lagrange formulation. The integral hierarchical sliding-mode control is utilized to create the frame of the controller. The control law is designed in order to maintain the sliding manifold which ensures the hierarchical sliding surface converge to zero. The simulation verifies the effectiveness and robustness of the proposed control scheme in the offshore condition that contains sea wave excitation.