A learning strategy based partial feedback linearization control method for an offshore boom crane

Qian, Yuzhe; Fang, Yongchun

doi:10.1109/cdc.2015.7403280

Cited by 11 publications

(6 citation statements)

References 15 publications

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“…In this section, we compare the performance of the proposed method with the classic PID controller and the learning strategy in the work of Qian and Fang. 25 The control gains for the comparative method in the work of Qian and Fang 25 is sufficiently tuned as 1 = 5, 2 = 8, k 1 = 8, k 2 = 25, k 3 = 0.05, whereas its explicit expression is omitted for brevity (interested readers are recommended to the work of Qian and Fang 25 for details). The PID controller is elaborately designed as M c = −25e 1 − 0.6 ∫ t 0 e 1 dt − 12̇e 1 , F l = −100e 2 − 0.6 ∫ t 0 e 2 dt − 120̇e 2 .…”

Section: Comparison With Existing Methodsmentioning

confidence: 99%

“…Experimental results of the proposed method, PID method, and the learning strategy in the work of Qian and Fang 25 : for the PID method and too fast for the learning strategy. Correspondingly, significant waste of time or potential safety risks may be caused.…”

Section: Figurementioning

confidence: 99%

“…Experimental results of the proposed method, PID method, and the learning strategy in the work of Qian and Fang 25 : Case 2: Nonzero initial conditions. We intentionally incorporate the initial swing of the payload to disturb the offshore crane system.…”

Section: Figurementioning

confidence: 99%

“…Although some improvements are achieved, these structure modifications can only conquer the disturbances passively, and their performance cannot be theoretically guaranteed. Fang et al 24,25 regarded offshore cranes as corresponding land-fixed cranes, which are interfered by some random disturbances. In this way, many control strategies that are utilized on land-fixed cranes can be applied to offshore cranes.…”

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confidence: 99%

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Nonlinear coordination control of offshore boom cranes with bounded control inputs

Fang

Sun

2018

Intl J Robust & Nonlinear

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Offshore cranes are complicated underactuated systems, which work in harsh sea conditions. Due to the various severe disturbances, the control of offshore cranes has always been a great challenge, which is made even more complicated when considering some practical issues such as actuator saturation and coordination. Until now, few results have been published in the literature on this topic. To address this problem, an efficient nonlinear control method is proposed for offshore boom cranes suffering from both ship roll and heave motion in this paper, which takes full consideration of actuator saturation, as well as the coordination problem between actuators. Furthermore, regarding the various extra nonvanishing disturbances, such as winds, frictions, and unmodeled dynamics, a disturbance observer is designed to estimate and eliminate these uncertainties. The asymptotic stability of the desired equilibrium point is rigorously guaranteed by Lyapunov techniques and LaSalle's invariance theorem. Finally, extensive hardware experimental tests are carried out to demonstrate the feasibility and efficiency of the proposed method. To the best of our knowledge, this paper proposes the first method that considers the saturation and coordination problem for offshore cranes while guaranteeing the asymptotic stability of the desired equilibrium point.

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Section: Comparison With Existing Methodsmentioning

confidence: 99%

Section: Figurementioning

confidence: 99%

Section: Figurementioning

confidence: 99%

mentioning

confidence: 99%

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Nonlinear coordination control of offshore boom cranes with bounded control inputs

Fang

Sun

2018

Intl J Robust & Nonlinear

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“…When applying the proposed TTS to suppress payload swing, it is natural to give F 1 j j and F 2 j j constant values based on relations (15), (16) and (18). With the same system parameters in Table 1, define l = 1.2 and F = 45°.…”

Section: Dynamic Analysismentioning

confidence: 99%

Payload swing suppression for offshore cranes using a novel triple-tagline system: Theory and experiment

Wang

Ren

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part M:

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Offshore cranes are widely used for lifting operations at sea. However, due to the ship motions and crane operations, the payload swing is unavoidable, hence putting the operators in danger. Thus, this article proposes a novel triple-tagline system which has three taglines forming a triangle structure in the space and can suppress the payload swing in arbitrary directions. The kinematic and dynamic models are built in a systematic manner, which establish the theoretical basis of position synchronization and tension setting of the taglines. Then, dynamic analysis is carried out to explore the effect of the taglines’ tension on payload swing suppression, but it is unexpected to find that the taglines cannot suppress the dynamic payload swing if they always hold the static equilibrium condition. Furthermore, inspired by the air damping phenomenon, a damp-based tagline tension setting method is proposed to guarantee the resultant force of the taglines would always keep the tendency to damp the payload swing. At last, a tension/position hybrid control strategy is presented to prevent the interference of the taglines to crane operations. The validity of the proposed method and strategy are verified by experimental results.

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Self-tuning anti-sway control for shipboard cranes providing combined world and deck-frame compensation

Martin

Irani

2022

Ocean Engineering

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A learning strategy based partial feedback linearization control method for an offshore boom crane

Cited by 11 publications

References 15 publications

Nonlinear coordination control of offshore boom cranes with bounded control inputs

Nonlinear coordination control of offshore boom cranes with bounded control inputs

Payload swing suppression for offshore cranes using a novel triple-tagline system: Theory and experiment

Self-tuning anti-sway control for shipboard cranes providing combined world and deck-frame compensation

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