Motion Control Strategies for Smart Floating Cranes

Wouter Bentvelsen*, Guus Jonathan Gorsse, Niels Bouman, Vincent Bashandy, Vittorio Garofano, Jovana Jovanova

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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Floating structures have raised interest in the recent years for different applications, from living and farming at sea to renewable energy production. To support the logistics on the floating structures, floating cranes are necessary and their designs are constantly improved. Increasing developments in the automation industry paved the way for automated crane operations. In this work, motion control of a smart crane is presented with particular attention to the performance under wave motion. In this research, a scaled down, two-dimensional mathematical model of a gantry crane is derived using Lagrangian mechanics and DC motors dynamics. This results in a nonlinear system that is capable of simultaneous traversing and hoisting a container. The system is simulated in MATLAB Simulink environment and a proportional-derivative control and a state feedback control are designed and implemented. Their robustness is explored by modelling sensor behavior, external disturbances and floating platform dynamics. Both control strategies were able to keep stability in a disturbed system. During simulation, the sway angles never exceed 10°. Smaller oscillations occurred using the state feedback control. Therefore, it creates a smoother response compared to the proportional derivative control, which ultimately translates to increased safety, turnover rate and durability of the crane.

Original languageEnglish
Title of host publicationProceedings of the 2nd World Conference on Floating Solutions, WCFS2020
EditorsLukasz Piatek, Soon Heng Lim, Chien Ming Wang, Rutger de Graaf-van Dinther
Place of PublicationSingapore
ISBN (Electronic)978-981-16-2256-4
ISBN (Print)978-981-16-2255-7
Publication statusPublished - 2022
Event2nd World Conference on Floating Solutions, WCFS 2020: Paving the Waves - Virtual, Online, Netherlands
Duration: 6 Oct 20208 Oct 2020

Publication series

NameLecture Notes in Civil Engineering
ISSN (Print)2366-2557
ISSN (Electronic)2366-2565


Conference2nd World Conference on Floating Solutions, WCFS 2020
CityVirtual, Online

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Floating platform
  • Motion control
  • PD control
  • Smart cranes
  • State feedback control


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