An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes

doi:10.1007/s11633-018-1134-y

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	An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes
	Yu-Zhe Qian 1,2; Yong-Chun Fang 1,2; Tong Yang 1,2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2018
卷号	15 期号:5 页码:570-581
摘要	This paper proposes a novel nonlinear energy-based coupling control for an underactuated offshore ship-mounted crane, which guarantees both precise trolley positioning and payload swing suppressing performances under external sea wave disturbance. In addition to having such typical nonlinear underactuated property, as it is well known, an offshore ship-mounted crane also suffers from much unexpected persistent disturbances induced by sea waves or currents, which, essentially different from an overhead crane fixed on land, cause much difficulty in modeling and controller design. Inspired by the desire to achieve appropriate control performance against those challenging factors, in this paper, through carefully analyzing the inherent mechanism of the nonlinear dynamics, we first construct a new composite signal to enhance the coupling behavior of the trolley motion as well as the payload swing in the presence of ship′s roll motion disturbance. Based on which, an energy-based coupling control law is presented to achieve asymptotic stability of the crane control system′s equilibrium point. Without any linearization of the complex nonlinear dynamics, unlike traditional feedback controllers, the proposed control law takes a much simpler structure independent of the system parameters. To support the theoretical derivations and to further verify the actual control performance, Lyapunov-based mathematical analysis as well as numerical simulation/experimental results are carried out, which clarify the feasibility and superior performance of the proposed method over complicated disturbances.
关键词	Energy-based control offshore ship-mounted cranes Lyapunov methods underactuated nonlinear control systems.
DOI	10.1007/s11633-018-1134-y
引用统计	被引频次：15[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42434
专题	学术期刊_Machine Intelligence Research
作者单位	1.Institute of Robotics and Automatic Information System, Nankai University, Tianjin 300350, China 2.Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin 300350, China
推荐引用方式 GB/T 7714	Yu-Zhe Qian,Yong-Chun Fang,Tong Yang. An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes[J]. International Journal of Automation and Computing,2018,15(5):570-581.
APA	Yu-Zhe Qian,Yong-Chun Fang,&Tong Yang.(2018).An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes.International Journal of Automation and Computing,15(5),570-581.
MLA	Yu-Zhe Qian,et al."An Energy-based Nonlinear Coupling Control for Offshore Ship-mounted Cranes".International Journal of Automation and Computing 15.5(2018):570-581.

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