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By P. G. West-Sells

At Barrick's Zaldivar Copper Mine in Chile, the addition of sulfuric acid to the ore going to heap leaching is a major expense. A process in which a portion of this acid is replaced by elemental sulfur added to the heap has been developed by Barrick and Westcoast Biotech that has the potential for significant cost savings. Initial shake flask tests with plant raffinate solution indicated that oxidation of elemental sulfur by a culture of sulfur-oxidizing bacteria, some indigenous to the Zaldivar heap, showed a significant lag period. This lag period could be reduced by dilution of the raffinate, but dilution would not be economical to implement at Zaldivar. Short (0.75 m) column tests indicated that after the initial lag period, sulfur biooxidation occurred steadily and the acid requirement for obtaining the same copper recovery as the control without sulfur was reduced by as much as 13 kg/t. These tests were followed by taller (5.1 m) column tests that confirmed the reduction in acid consumption, with no negative effect on copper extraction.

Jan 1, 2007

By Rodrigo Serna, Nora Schreithofer, Zoltan Javor, Kari Heiskanen

"Mineral floatability is a function of mineral properties such as size, liberation, shape, surface composition, reagent coverage on the surface, level of oxidation on the surface, etc.; pulp chemistry: Eh, pH, temperature, DO, reagent type, etc. and hydrodynamic conditions: turbulence, gas dispersion, D32, etc. The biggest challenge with predicting the floatability of an ore is finding a measurement method that would take into account the effect of all of the variables on the floatability of the minerals. The particle-bubble attachment time measurement is considered as an alternative way to predict the floatability of minerals instead of using expensive and time consuming flotation tests because it takes into considerations both surface chemistry and hydrodynamic parameters present in the froth flotation. The existing particle-bubble attachment time method is suitable for studying some significant flotation variables such as pH, temperature, particle size, reagent type and concentration. Nevertheless, measuring the attachment time as a function of collector coverage or surface oxidation is much more challenging. This paper introduces a new induction timer designed to measure the effect of galvanic interaction on the attachment time of particles. The new setup employs an array of needles to create 6 bubbles with the average size of 2.1 mm. Imaging system is used to set the initial distance between the particle bed and the array of bubbles. The attached particles are collected and sent for further analysis. One of the main benefits of the new experimental setup is that the attached particles can be physically separated from the unattached particles therefore many of the particle properties can be analysed and evaluated.INTRODUCTIONSchumann (1942), and Tomlinson and Fleming (1963) proposed that the flotation rate constant is dependent on four probabilities: particle-bubble collision (PC), particle-bubble attachment (PA), particlebubble aggregate stability in turbulent environment (PE), and particle-bubble aggregate stability in froth phase (PF). Any change in any of these probabilities will affect the overall flotation rate constant. All of the above-introduced probabilities are influenced by stream- variables and mechanical variables but their extent of influence vary. The stream variables are particle properties that have been shown to affect flotation rate constant such as size, shape, liberation, mineralogical composition, reagent surface coverage, surface oxidation, etc. The mechanical variables are the direct and indirect properties of the flotation unit affecting flotation rate constant such as cell and impeller geometry, air rate, impeller speed, air holdup, bubble size, residence time, hydrodynamics, froth depth, etc. For instance, the probability of collision is affected by many mechanical variables (bubble size, hydrodynamics, bubbles holdup etc.) but only one stream variable (particle size) has a major effect on it. On the other hand the probability of attachment is affected by much more stream variables: particle size, shape, liberation, surface composition, particle surface oxidation and collector coverage, Eh, pH, etc."

Jan 1, 2016

The mining industry has generally been slow to apply ion exchange processes to hydrometallurgical applications even if ion exchange offers an ideal solution for a particular problem. Two notable exceptions are in gold and uranium recovery. The largest application of ion exchange in the metals processing industry has been the use of resin-in-pulp (RIP) for gold recovery as an alternative to activated carbon. Iron is a ubiquitous impurity in hydrometallurgical solutions. In many cases, bulk removal of iron from the process solutions is accomplished by precipitation. However, precipitation for iron control is often accompanied by losses of base metals by co-precipitation. Increasingly, the option of ion exchange for removal of smaller amounts of iron from process solutions has been favoured. A number of applications have been developed and proven at the commercial scale for the removal/control of iron from a range of metal processing solutions. This paper provides an overview of the application of ion exchange for iron removal from a range of metal processing operations, including Cu, Ni and Co solutions. A number of case studies are provided which review operational and resin regeneration strategies and the impact upon the commercial operation of metal processing with improved iron control.

Jan 1, 2006

By G. R. Haiden, E. Henderson

"An LHD teleoperation and guidance system, developed at the Ontario Division of Inco Limited, has been demonstrated in operation at Copper Cliff North Mine (CCNM) since late September, 1993. The tests performed to date have evaluated the feasibility and production viability of multiple LHD operation, from surface by one operator.The systems technology required to accomplish this consists of an electronic monitoring and control package mounted on the LHD; a high bandwidth mining computer network capable of providing radio frequency coverage; and an operator control console which provides an operator workstation for multiple LHD operation.This paper discusses the systems required to accomplish the task of LHD teleoperation and guidance, the benefits of multiple machine operation and future research and development directions. IntroductionSince underground mining began, persolU1el have entered the mine workings to mine ore. Today, however, the rapid advancement of modem telecommunications, computer hardware and software technology has opened the door to remote mining technology that was considered unfeasible a few years ago. This paper discusses the ingredients of remote mining technology that have been developed at Inco Limited.Figure I represents an historical view of the application of electronics to LHD operation at Inco Limited. In 1980, the first radio remote controls for the operation of LI-IDs in large open stopes were tested. The successful application of this technology at Inco went hand-in-hand with the development and application of the Vertical Crater Retreat mining method. The combination of these two advances had a very positive effect on the productivity in the mid-eighties at Inco. In 1991, the Mines Research Department of the Ontario Division advanced remote control technology by developing a high capacity underground mining telecommunications system. This system is capable of moving voice, data and video information throughout the mine workings. The system is based on broadband communication technology found in most automated factories, with the added benefit of providing the information to and from mobile equipment through radio interfaces. The first test of the system consisted of an operator teleoperating a single LHD (on the 3000 ft level) from the surface. The next test on September 13, 1993, demonstrated the first production application of multiple LHDs being run from surface with a single operator."

Jan 1, 1994

By Richard R. Klimpel, Simon Isherwood

"The industrial processing of ores containing gold and/or platinum minerals is generally mining site specific, e.g. McQuiston and Shoemaker (1985). The variety of various mineral processing techniques employed is extensive and includes size classification, gravity concentration, amalgamation, roasting, cyanidation, chemical leaching, ion ex-change/solvent extraction and froth flotation. Because of the relatively small quantities of Au and Pt that exist in the earth’ s crust, the economical recovery of Pt and Au often requires that the Au and Pt be associated with other industrially important minerals. This association of Au and Pt with other minerals can occur in very complicated mineralogical forms. It is probably safe to say that Au and Pt mineral concentration from natural ores represents some of the most complex metallurgical challenges facing the mining industry.Froth flotation is a technique that is receiving increasing industrial attention for the treatment of finely disseminated and/or associated Au and Pt minerals. The high throughput at relatively low capital cost, the potentially high selectivity, and the existence of a well-established technology for treating more abundant associated minerals such as base metal sulfides makes froth flotation an attractive processing alternative. Broadly speaking, the industrial oriented froth flotation experience with Au and Pt minerals exists in two major categories: 1) the flotation of Au and Pt associated with pyrite (or pyrrhotite) and 2) the flotation of Au and Pt associated with primarily Cu, Zn, or Cu/Pb/Zn containing sulfide ores.In the case of the precious metal association with pyrite (or pyrrhotite), much of the published froth flotation experience comes from South Africa. Typically, such processes are done using an acid side flotation with a collector such as mercaptobenzothiazole. The approach obviously is to float pyrite and hence recover associated gold. Generally the higher the total sulfur recovery the higher the gold recovery. Similar experiences of Pt associated with pyrite are a lot less common mineralogically and hence less well documented industrially. For example, in Canada, Pt is often associated with pyrrhotite but is not really processed as a straight pyrrhotite recovery.For the situation of Au and/or Pt associated with other base metal sulfide minerals, the industrial experience base is quite varied and is well documented from both North and South American operations. The nature of most of these flotation processes is to design, operate, and optimize the installed concentrator to get the Cu, Pb, Zn, Ni, etc. that is the bulk of the valuable sulfide ore and then take whatever precious metal recovery comes. Typically, such flotations are on the basic side using standard thiol collectors such as xanthates, dithiophosphates, thionocarbamates, etc. It is very common with such ores to use mixtures of collectors in order to get ""everything"". Often in such plants, there is an inherent balancing act occuring so as to operate in such a manner to reject pyrite (and pyrrhotite) in order to maintain high base metal mineral concentrate grades and yet recover sufficient precious metals such as Au and Pt minerals which often are associated with the iron sulfides being rejected. Obviously in such an environment, the smelter operation often ends up telling the concentrator what the precious metal recovery actually was in a given production period."

Jan 1, 1994

By J. Budac, R. Kofluk, S. Mankasingh

Stainless steels such as 316L or 304 are normally relatively resistant to attack by nitric acid. However research at Sherritt International’s Fort Saskatchewan Operation reveals that when the stainless steel is immersed in an aqueous system in which nitric acid is used to dissolve metals such as cobalt or nickel, the steel can be seriously corroded. Sherritt is patenting a simple process for arresting the corrosion via the use of copper. This process is expected to substantially eliminate corrosion in processes where nitric acid is used to dissolve metals attached to a stainless steel substrate.

Jan 1, 2014

By Gautier Njiekak

The current study provides an experimental approach that aims at documenting the effects of different phases of CO2 (gas, liquid, supercritical fluid) on rock seismic responses. This has implications on obtaining quantitative estimates of fluid saturations for geological storage. The ultrasonic pulse transmission technique is the underlying methodology used in this work. Unlike previous rock physics studies involving CO2 as pore fluid, care is taken to fully saturate the studied samples and also to separate pore fluid effects from pore pressure build-up effects during the experiments. This allows to record seismic effects that are solely reflective of changes in the pore fluid properties. Measurements were done on a CO2 saturated Berea sandstone. Laboratory results show P- and S- waveform variations (velocity, amplitude) in response to CO2's varying phase state. Overall, CO2 phase changes (gas to liquid and gas to supercritical fluid) are marked by a drop in velocities, with the drop being smaller and less immediate over the gas-supercritical fluid transition than over the gas-liquid transition.

Jun 1, 2012

By Bruce K. McKnight

"The new H-W orebody was evaluated by considering its production at three technically feasible rates. Capital and operating costs were estimated f or each rate and production sequences were established using mining cutoff limits generated by an ore value algorithm. The viability of the project was then examined by conducting economic and financial analyses of each of the three production cases under various world economic scenarios. These analyses employing standard profitability measures demonstrated all three cases would be economically viable; the production case which maximized the Net Present Value of the project was the one selected for development and production.IntroductionWestmin Resources Limited and its predecessor company, Western Mines Ltd., has been continuously carrying out mining operations near Myra Falls in Central Vancouver Island since December 1966. The mining operation, whose current production rate is approximately 830 tonnes / day (t/d), based on ore derived from the Myra and Lynx Mines, produces copper, lead and zinc concentrates which contain significant quantities of gold and silver in addition to the base metals.In the late 1970s, with Lynx and Myra ore reserves slipping to unacceptably low levels, a major increase in mine-site exploration was initiated, with outside geological staff brought in to complement the efforts of the mine's geological staff. By the end of 1979, this program had resulted in the discovery of a significant new orebody on a deeper horizon some 300 metres below the one which hosts the Lynx and Myra deposits. Throughout the period 1980-1982, major drilling was carried out to evaluate the new H-W deposit and by the end of 1982, drill-indicated mineral inventory for the deposit compared with Myra, Lynx and Price ore reserves was as shown in Table I. During this same three-year period, a major development and evaluation program was underway comprising environmental monitoring and control programs, shaft sinking test mining, bulk sampling and mill testing, rock mechanics studies and preparation of the Stage I and II reports for the multidisciplinary Environmental Land Use Committee (ELUC).As a result of the preliminary engineering work and exploration drilling, it became rapidly apparent that the H-W deposit could support a considerably higher production rate than the current one. Accordingly, engineering studies including scheduling of development and production as well as capital and operating cost estimates, were focused on three possible production rates: 1350, 1800 and 2700 t/d. Our task was to select the optimum one of these three rates."

Jan 1, 1987

By G. Q. Zhou, H. C. Liang, X. D. Zhao

"This study describes the strain behavior in vertical shaft lining (VSL) embedded in thick soil deposits and its application in assessment of concrete deterioration. The observed strain in VSL continuously decreased companied by a sinusoidal fluctuation due to the influences derived from negative skin friction (NSF) and temperature. The increase in strain increment between peak and trough at each year and compressive strain level as the servicing time continued and VSL depth increased implies that the concrete strength was attenuated, and this attenuation was significantly dependent on the existing compressive strain level in VSL. The reliability of the proposed approach was validated by Schmidt Hammer Technique (SHT) – based concrete strength, and is applicable in concrete assessment and then fracturing prediction of VLSs in thick soil deposits.Concrete strength, Field monitoring, Strain behavior, Vertical shaft liningINTRODUCTIONOver 100 VSLs in Southeastern China subjected to an unpredictable fracturing as shown in Figure1, and there are over 1,000 VSLs embedded in thick alluvium su?ering from challenges of damaging and potential fracturing (Cheng, Yang, Zhou, Li, & Hu, 1993; Zhou, Cui, Lv, Huang, & Chen, 1999; Li & Li,2005). Therefore, a reliable assessment of these VSLs is significant to the normal servicing of mine shafts and the recycle of underground space when these mine shafts were closed.The continuous increasing of NSF induced by the drainage of water–saturated deposits well interpreted such extensive fracturing phenomenon, and it is universally regarded as the governing indicator to determine the VSL stabilization (Cheng et al., 1993; Zhou et al., 1999). Based on this recognition, the fracturing prediction and VSL strengthening according to the field monitoring on hydrogeological characteristics, servicing environments, and mechanical behaviors of VSL were carried out (Zhao, Zhou, Zhong, Zhu, & Liang, 2009; Liang et al., 2009; Xie, Lv, & Wu, 2014). As known, the compressive strain level in VSL and the in–situ strength of VSL concrete were the main factors to perform such fracturing prediction. However, the existing studies in literatures were limited to the strain accumulating or releasing behaviors (Zhao, Zhou, Zhao, Kuang, & Hu, 2017), and lack of considering the VSL concrete strength and its attenuation. In this reported study, the in–situ monitoring data on the strain in typical VSLs and the VSL elevations between 2004 and 2014 were initially analyzed. Then, an observed strain behaviors–based approach was developed to quantitatively evaluate the VSL concrete deterioration."

Jan 1, 2019

By Yasser Mohamed

Daily field management of earthmoving operations requires quick and regular decisions for allocating available equipment to different jobs on a project. A general foreman?s day starts with matching several activities with a suitable set of available equipment to achieve the highest productivity and lowest unit cost. Usually, this decision-making process needs to be quick, and depends to a great extent on the foreman?s experience, which varies from one individual to another. Many analytical solutions with various degrees of sophistication and optimization exist to address such decisions. However, adopting any of these solutions is contingent on how accessible and easy-to-use the solution is. This paper discusses the development process of a webaccessible solution for evaluating earthmoving fleet composition and allocation scenarios. The solution relies on discrete event simulation and an optimization backend engine, but introduces the user with a simplified and easy-to-use interface that is accessible from any mobile device, and is customized to specific user?s needs. The developed system gathers most equipment and site-related input data from a company?s information systems to minimize user input. The user mainly needs to formulate equipment and job combinations and allocation scenarios (e.g. soil type, quantity, and hauling distance), according to equipment availability each day. Then the system will evaluate the productivity and unit cost estimates for each scenario, allowing the user to choose the most suitable one. It may also be used to automatically recommend the optimum solution given an available list of equipment. The paper presents the process followed in prototyping the proposed system in collaboration with a major Canadian earthmoving contractor, and customizing it to the user needs within the company. It also describes the overall structure of the developed system and its core simulation model.

Aug 1, 2013

By S. Esmaeili

The yield strength model developed by Esmaeili, Lloyd and Poole [1] has been adapted to model isothermal aging in Cu-containing AA6xxx alloys, with (a) a moderate and (b) a very low Cu content in the solution-treated, as-quenched, condition, Isothermal calorimetry has been used to analyze the kinetics of precipitation in these alloys, While the kinetic parameters for the low Cu alloy has been derived from the present experiments, the previously determined kinetic parameters for the high Cu alloy AA6111 has been used to model the precipitation kinetics in the moderate Cu alloy. The age hardening responses of both alloys have been well predicted by the model.

Jan 1, 2005

By M. Askari, M. H. Parsa, S. Kashani-Nejad

Sarcheshmeh refractory consumption rate is about 7.5 - 8 kg/ton of the produced copper, which is almost three times higher than the other smelters practice. High destruction rate of tuyere zone refractory controls vessel productivity and operational lifetime. In this research with the aid of cold model and computational fluid dynamic (CFD), melt recirculation pattern and gas - liquid plume properties in the wide range of gas blowing conditions were studied. Results revealed that in addition to the well-known mechanical refractory destruction mechanism, fast tuyere zone refractory destruction could also be related to the cold bubble cluster formation near tuyere tips and introducing severe thermal shock to the refractory surface. Removing accretion and its strong bonds to the refractories around tuyere tip, causes refractory mechanical destruction and increases tuyere diameter. Increased tuyere diameter, in turn assists gas discharge in the bubbling regime. Air blowing in the bubbling regime result in the formation of big bubble clusters, bubble breakup and back attack occurrence which all found to have major impact on the refractory lifetime. Outcomes of this research, contributed to the plant converting management, blowing hardware and instrumentation improvement.

Jan 1, 2004

By Mohammad. M. Khajeh

Rock mechanical properties are important parameters in geomechanical simulation. Considering stochastic heterogeneous models rather than conventional homogeneous layer cake models leads to more realistic simulation results and uncertainty assessment. These heterogeneous models are usually fine scale models generated by geostatistical techniques. Although considering high resolution property models is desirable, geomechanical simulation with a fine scale model is not computationally feasible for full?field, coupled geomechanical-flow simulation. Upscaling of property models is necessary to move from fine scale/high resolution property models to coarser scale/low resolution models appropriate for simulation. Local numerical upscaling was proposed by Khajeh et al. (2012) to describe the macroscopic elastic behavior of complex heterogeneous media and is expanded upon in this work. This numerical technique is not restricted to specific geologies as typical analytical techniques are. Moreover, transversely isotropic deformation is considered rather than the usual assumption of isotropic deformation. To compare the accuracy of the upscaling methodology, in this study shear strain is considered as the geomechanical response of a synthetic facies model and the response of the coarse scale model is compared to other conventional analytical averaging techniques. It is found that the numerical upscaling technique better approximates the geomechanical response of the fine scale model.

Jun 1, 2012

By C. O. Staples, J. G. Morrow

The application of cationic flotation to the upgrading of magnetic concentrates was investigated in the laboratory by both batch and continuous test procedures. It was found that the collection of coarse gangue particles with amine, heretofore considered a serious obstacle to this particular application of cationic flotation, is greatly enhanced by a drastic reduction in what might otherwise be considered normal impeller speed. Gangue flotation is in-dependent of variations in the rate of aeration. The collector and Crother additions and the impeller speed which favour the formation of a matte froth yield optimum results.

Jan 1, 1966

By J. A. Hurd

Towards the goal of a better understanding of the structure-proton conductivity relationship in PEM materials, this project concerns the design of ordered polymeric solids containing well-defined sulfonate aggregates. The approach employed involves the templation of sulfonated monomers using core principles of crystal engineering. In addition to sulfonate groups, the monomeric units contain crosslinkable functionalities to enable formation of a covalently linked network. The templation strongly directs the construction of well-defined sulfonate clusters and aggregates. Structural, sorption and conductivity data for the networks will be shown.

Jan 1, 2005

By J. F. Perreault, J. Paraszczak

"The profitability of an underground mine depends to a great extent on the production cost.Random equipment failures and their consequences have significant influence on the total operating cost of a mining system. Having this in mind, a reliability study has been initiated for loadhaul- dump machines in an underground mine. The main purpose of this study is to identify the critical machine subsystems, determine their failure pattern and help work out an effective maintenance strategy. In the first part of this study, the failure data of diesel powered LHDs, gathered during an I8-month period have been analyzed. For the purpose of the analysis, the machines have been treated as systems comprising seven subsystems connected in series. The most critical subsystems, i.e. electrical and hydraulic, were further investigated, and analyzed by graphical and analytical methods. Different failure distribution models were applied and discussed. Basic Defmitions and ConceptsIn order to avoid confusion, several terms used in this paper are defined below, as compiled by O'Connor (1991). The acronymsBS and MIL-STD stand respectively for: British Standard and US Military Standard.Failure: the termination of the ability of an item to perform a required function (after BS 4778).Time Between Failures (TBF): the length of time between two consecutive failures.Observed Mean Time Between Failures (MTBF): For a stated period in the life of an item, the mean value of the length of time between consecutive failures computed as a ratio of the cumulative observed time to the number of failures under stated conditions (after BS 4778).Maintenance, Corrective: The actions performed, as a result of failure, to restore an item to a specified condition (after MIL-STD-721 B).Maintenance, Preventive: The actions performed in attempt to retain an item in a specified condition by providing systematic inspection, detection and prevention of incipient failure (after MIL-STD-721B)."

Jan 1, 1994

By Marc C. Bétoumay

Workplace safety, health, climatic conditions and rising oil prices are aspects that are important to the mining industry. The need for cleaner energy for underground mine vehicles is requiring serious consideration. A number of alternate energy systems offer clean solutions to diesel emissions while maintaining the current liberty of vehicle movement. This watershed article provides a broad comparison of cleaner diesel and alternative energies for underground production vehicles. Most alternate energies and clean diesel have already been tested in underground production vehicles. There are no technology gaps that would prevent the development of commercial alternative energy power plants, but in the case of alternate energies, second and third generation versions will be required to fully test for safety and operation viability. Full regulatory development is also required and could be done in parallel to power plant testing. Vehicle operation and maintenance manpower would be the same for alternate energy application as for clean diesel. Capital cost for alternate energy power plants will remain higher until the medium term. Owing to significant ventilation savings possible with alternate technologies, operating costs would be reduced.

May 1, 2011

By S. Suzuki, C. Tokoro, S. Owada, T. Sakakibara

Acid mine drainage (AMD) has been actively treated by neutralization from about 80 abandoned or closed mines in Japan. More efficient and cost effective treatment processes has been demanded for AMD due to the government investment of billions of yen every year to protect the environment from these discharges. In this study, quantitative modeling was conducted for actual AMD to predict pH or residual concentration of toxic elements after neutralization/co-precipitation process. Simple chemical equilibrium calculation was not adequate for quantitative prediction of pH after neutralization, because residual concentration of major elements of AMD, such as Fe or Si, could not be quantitatively calculated. When oxidation rate of Fe(II) to Fe(III) and precipitation rate of kaolinite were added to the model, quantitative prediction of pH and Fe or Si concentration was achieved. Surface complexation at the interface between hydroxide such as ferrihydrite or aluminum hydroxide and AMD was the most important mechanism for removal of dilute toxic ions. When surface complexation model at the interface of ferrihydrite was added to the model, residual As (V) and Pb (II) concentration after neutralization/coprecipitation process was successfully calculated. On the other hand, surface complezation model of aluminum hydroxide was also necessary for quantitative prediction of residual Zn(II) concentration after neutralization/co-precipitation process.

Jan 1, 2014

By D. Asefi

A new method to detect microstructural features such as recovery and recrystallization as well as cold rolling reduction in low carbon steels was developed based on magnetic hysteresis loop measurement. To this aim, a hysteresis loop measuring apparatus, specifically designed and assembled for plate samples was employed. It is shown that maximum field (Hmax) of hysteresis loop, measured at constant maximum flux density (Bmax) of 0.5T, is an adequatemagnetic property to monitor different stages of changing microstructures during annealing.

Oct 1, 2011

By R. M. T. Raja Ismail

Shipping and stevedoring industry is going to witness a massive increase in the amount of containers to be handled while land constraints become more critical. Offshore transfer operations hence offer a preferable solution to deal with the surge in cargos rather than to expand the port outwards. Recently, there has been increasing research interests on offshore crane automation. Suspended cargos in a ship-mounted crane system are caused to swing due to the vibratory motion of the ship induced by ocean waves, which can lead to collision between cargos and deck. Therefore, it is vital for offshore crane systems to satisfy rigorous requirements in terms of safety and efficiency. This paper presents the modelling and control development for offshore boom crane systems. A second-order sliding mode control law is proposed for trajectory tracking and sway suppression control, making use of its capability of actuator chattering alleviation while achieving high tracking performance and preserving strong robustness. The asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the proposed controller can significantly reduce the effect of disturbances coming from gusty waves and other dynamic loadings.

Aug 1, 2013