Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances

doi:10.1109/JAS.2020.1003162

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	Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances
	Tong Yang; Ning Sun; He Chen; Yongchun Fang
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:3 页码:892-900
摘要	Offshore cranes are widely applied to transfer large-scale cargoes and it is challenging to develop effective control for them with sea wave disturbances. However, most existing controllers can only yield ultimate uniform boundedness or asymptotical stability results for the system’s equilibrium point, and the state variables’ convergence time cannot be theoretically guaranteed. To address these problems, a nonlinear sliding mode-based controller is suggested to accurately drive the boom/rope to their desired positions. Simultaneously, payload swing can be eliminated rapidly with sea waves. As we know, this paper firstly presents a controller by introducing error-related bounded functions into a sliding surface, which can realize boom/rope positioning within a finite time, and both controller design and analysis based on the nonlinear dynamics are implemented without any linearization manipulations. Moreover, the stability analysis is theoretically ensured with the Lyapunov method. Finally, we employ some experiments to validate the effectiveness of the proposed controller.
关键词	Boom/rope positioning offshore cranes swing elimination underactuated systems
DOI	10.1109/JAS.2020.1003162
引用统计	被引频次：11[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/173211/42997
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Tong Yang,Ning Sun,He Chen,et al. Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(3):892-900.
APA	Tong Yang,Ning Sun,He Chen,&Yongchun Fang.(2020).Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances.IEEE/CAA Journal of Automatica Sinica,7(3),892-900.
MLA	Tong Yang,et al."Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances".IEEE/CAA Journal of Automatica Sinica 7.3(2020):892-900.

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