Super-twisting Sliding Mode Control of Container Cranes With Triangle-trapezoid Rope Reeving System

In this paper, the dynamics of a new type of container crane, in which eight ropes connect the trolley and spreader in a triangle-trapezoid shape, is developed. The triangle-trapezoid cable configuration for connecting the spreader with the trolley is introduced to reflect the dynamic aspects of the multi-rope reeving system. A super-twisting sliding mode control for the developed model is designed for accurate trolley position control and vibration suppression of the load. Due to its robustness property against external disturbance, satisfactory control performance is achieved. Finally, experimental results to validate the developed model and simulation results to verify the control algorithm are also provided in this study.