Optimal Control of Container Cranes

Abstract A dynamical model of container cranes is firstly derived by using Lagrange's equation. When a ship is loaded or unloaded with containers, the total motion of the container load is divided into five fundamental sections. For each fundamental type of motion, we calculate the optimal control such that the corresponding trajectory satisfies the specified boundary conditions and that the swing of the container load during the transfer is minimized. A new algorithm which is employed for computing the optimal control is explained in detail. Some results of numerical computation are also shown

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