naa a22 4500 510823408 CHVBK 20180411083544.0 cr unu---uuuuu 180411e20131001xx s 000 0 eng 10.1007/s12541-013-0237-1 doi (NATIONALLICENCE)springer-10.1007/s12541-013-0237-1 A study of the tracking control of an transfer crane using nonholonomic constraint [Elektronische Daten] [Ji-Hyun Jeong, Young-Bok Kim, Dong-Won Jung] The automation of container cranes is one of the significant factors of global competitiveness, by improving the celerity of distribution processing in container terminals. Most container terminals operate with Rubber-Tired Gantry Crane (RTGC) type container cranes. However, the RTGC displays various uncertainties, including slips and scarcities of air pressure of tires during tracking mode, and position error during suspension, and therefore it is difficult to secure reliability for the automation level, and systematic research developments remain in inadequate status. First, the problem of tracking control that tracks the route determined at the yard with high speed and accuracy must be solved, to achieve automation of the RTGC. Since it is virtually impossible to use the steering unit of the RTGC, there exist constraints of having to perform tracking control through the speed control of both drive units. Thus, the RTGC is a system with nonholonomic constraint, as the typical nonlinear system driven by tires. In this study, the nonholonomic system is applied to conduct the overall system modeling, through kinematic modeling and dynamic modeling of the RTGC. Furthermore, the sliding mode control technique is applied as one of the discontinuous time invariant control techniques, for the purpose of simultaneously accomplishing system stabilization, and overcoming model uncertainties. The gains of sliding planes will be analytically found by using the LMI technique, and performance of the proposed control unit will be confirmed through the experiment. Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg, 2013 Rubber-tired gantry crane nationallicence Nonholonomic system nationallicence Sliding mode nationallicence LMI nationallicence Jeong Ji-Hyun Department of Mechanical Engineering, Jeju National University, 102 Jejudaehakno, Jeju-si, 690-756, Jeju-do, South Korea aut Kim Young-Bok Department of Mechanical System Engineering, Pukyong National University, San 100, Yongdang-dong, Nam-Gu, 608-739, Busan, South Korea aut Jung Dong-Won Department of Mechanical Engineering, Jeju National University, 102 Jejudaehakno, Jeju-si, 690-756, Jeju-do, South Korea aut International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/10(2013-10-01), 1775-1782 2234-7593 14:10<1775 2013 14 12541 https://doi.org/10.1007/s12541-013-0237-1 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s12541-013-0237-1 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Jeong Ji-Hyun Department of Mechanical Engineering, Jeju National University, 102 Jejudaehakno, Jeju-si, 690-756, Jeju-do, South Korea aut NATIONALLICENCE 700 1- Kim Young-Bok Department of Mechanical System Engineering, Pukyong National University, San 100, Yongdang-dong, Nam-Gu, 608-739, Busan, South Korea aut NATIONALLICENCE 700 1- Jung Dong-Won Department of Mechanical Engineering, Jeju National University, 102 Jejudaehakno, Jeju-si, 690-756, Jeju-do, South Korea aut NATIONALLICENCE 773 0- International Journal of Precision Engineering and Manufacturing Springer Berlin Heidelberg 14/10(2013-10-01), 1775-1782 2234-7593 14:10<1775 2013 14 12541 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer