A Robust Payload Control System Design for Offshore Cranes: Experimental Study

Abstract

This paper presents a robust controller design of payload position control for an offshore crane facing disturbance and parametric uncertainties. The offshore operations with cranes while lifting and lowering a payload can be dangerous since safety and efficiency are affected by waves, wind and ocean currents. Such harsh sea conditions put the offshore crane and payload through unwanted disturbances and parametric uncertainties, which requires a robust control system to guarantee reliable performance of these systems. In this paper, we detail a controller designed based on uniformly ultimately bounded (UUB) theory, combined with the input-output linearization control technique (IOLC). The stability of the closed-loop system under the UUB conditions is analyzed using the energy-based Lyapunov function. To evaluate the control performance of the proposed controller, along with an IOLC and an integral sliding mode controller (ISMC), a comparison study is also conducted. The control performance and efficiency of the proposed controller are validated through experiments on an offshore crane model.

Measurement Of The Dynamics Of The Sheave Block Of Shipyard Crane With 1000 T Lifting Capacity For Verification Of The Laboratory Stand

“…The second one is Surface Acoustic Wave Radio Frequency IDentification (SAW RFID) localization (Lyu et al 2019). Considering control algorithms, different solutions may be used, e.g., nonlinear coupling anti-swing control method (Shi et al 2019), a controller designed based on uniformly ultimately bounded (UUB) theory (Park et al 2021), classical PID, or other nonlinear control strategies.…”

A Time-Varying PD Sliding Mode Control Method for the Container Crane Based on a Radial-Spring Damper

“…From the control point of view, for the two-dimensional multi-rope container crane system, the variables to be controlled are more than the amount of system control, which is an underactuated system, and the control problem of such a system is very challenging. To this end, many scholars have proposed a series of control methods, including input integer [11], trajectory planning [12], optimal control [13], adaptive control [14], robust control [15][16][17], and intelligent control [18,19]. Among them, sliding mode control as a robust control method (SMC) has high robustness and is insensitive to system parameters and external disturbances.…”