Nonlinear antiswing control for offshore boom cranes subject to ship roll and heave disturbances

Adaptive nonlinear control for 4‐DOF ship‐mounted rotary cranes

“…However, unlike cranes on the land, ship-mounted rotary cranes operate in the non-inertial coordinate system. [22][23][24][25] Ship-mounted rotary cranes are subject to various disturbances such as waves and wind during the working process. Specifically, we divide the variables caused by ship disturbances into the roll, the pitch, the yaw, the heave, and so forth.…”

“…For the control of ship-mounted rotary cranes, researchers have proposed some effective control methods. [22][23][24][25][26][27][28] Qian et al investigated the disturbance observer and presented a nonlinear feedback controller, including a robust term and a switching logic regulation mechanism. 22 Through this method, a certain anti-disturbance to wave disturbances was achieved.…”

“…Lu et al constructed a composite signal and designed a nonlinear controller to suppress the swing angle of the load which considers both ship heave and roll disturbances. 24 Sun et al analyzed a 5-DOF ship-mounted rotary crane model considering ship yaw angle and roll disturbance, constructed an energy function through coordinate transformation and designed an approach of output feedback. 26 Martin et al established the dynamic model of a 7-degree-of-freedom ship-mounted steering knuckle boom crane, and anti-swing control was realized by nonlinear SMC and adaptive trajectory tracking method.…”

“…Like land‐based cranes, ship‐mounted rotary cranes need to guarantee positioning accuracy and eliminate the swing angle during transportation. However, unlike cranes on the land, ship‐mounted rotary cranes operate in the non‐inertial coordinate system 22‐25 . Ship‐mounted rotary cranes are subject to various disturbances such as waves and wind during the working process.…”

“…By this method, the fault tolerance ability of the crane system was improved. Lu et al constructed a composite signal and designed a nonlinear controller to suppress the swing angle of the load which considers both ship heave and roll disturbances 24 . Sun et al analyzed a 5‐DOF ship‐mounted rotary crane model considering ship yaw angle and roll disturbance, constructed an energy function through coordinate transformation and designed an approach of output feedback 26 .…”