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Volume 7 Issue 3
Apr.  2020

IEEE/CAA Journal of Automatica Sinica

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Tong Yang, Ning Sun, He Chen and Yongchun Fang, "Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances," IEEE/CAA J. Autom. Sinica, vol. 7, no. 3, pp. 892-900, May 2020. doi: 10.1109/JAS.2020.1003162
Citation: Tong Yang, Ning Sun, He Chen and Yongchun Fang, "Swing Suppression and Accurate Positioning Control for Underactuated Offshore Crane Systems Suffering From Disturbances," IEEE/CAA J. Autom. Sinica, vol. 7, no. 3, pp. 892-900, May 2020. doi: 10.1109/JAS.2020.1003162

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

doi: 10.1109/JAS.2020.1003162
Funds:  This work was supported by the National Key Research and Development Program of China (2018YFB1309000), the National Natural Science Foundation of China (61873134, U1706228), the Young Elite Scientists Sponsorship Program by Tianjin (TJSQNTJ-2017-02), and the Tianjin Research Innovation Project for Postgraduate Students (2019YJSB070)
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  • 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.


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  • 1In the entire paper unless otherwise claimed, $ S_{m-n} $ and $ C_{m-n} $ are utilized to stand for $ \sin{(m-n)} $ and $ \cos{(m-n)} $, respectively.
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    • The controller design and stability analysis are both carried out based on the original nonlinear dynamics of offshore cranes without any linearizing operations. Hence, even if the payload swing angle is far away from the equilibrium point owing to unknown disturbances, the model accuracy can be ensured to a great extent.
    • The proposed control method can guarantee the boom and rope to reach their desired positions within finite time.
    • By using Lyapunov methods, the convergence of the payload swing angle is strictly proven in this paper. Meanwhile, to further improve the anti-swing performance, an elaborately designed nonlinear coupling term related to the payload swing information is introduced into the suggested control law.
    • Compared with some existing studies, in this paper, it is unnecessary to transform the system dynamic model into specific forms or to introduce complicated gain constraints for closed-loop stability, which can greatly facilitate the application of the proposed controller to practical offshore cranes.


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