Nonlinear Model Predictive Control of Shipboard Boom Cranes with Ship Roll Motion

Cao, Yuchi; Zhao, Xiangjie; Li, Tieshan

doi:10.1109/cac53003.2021.9728657

Cited by 3 publications

(2 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The state constraints are adopted as T , respectively. For persuasive comparisons, the same parameters and settings as mentioned above were also adopted by NMPC in [31] and TMPC in [32].…”

Section: General Settingsmentioning

confidence: 99%

“…To deal with the physical constraints, MPC has also been tested for the automation control of shipboard cranes. In [31], nonlinear MPC (NMPC) was employed for shipboard boom cranes, in which the mechanical energy was incorporated into the cost function to enhance the physical meanings. Considering additive disturbances, tube-based MPC (TMPC) was utilized for shipboard boom cranes in [32].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Nonlinear Model Predictive Control of Shipboard Boom Cranes Based on Moving Horizon State Estimation

Cao

Hao

2022

JMSE

Self Cite

View full text Add to dashboard Cite

As important equipment in offshore engineering and freight transportation, shipboard cranes, working in non-inertial coordination systems, are complicated nonlinear systems with strong couplings and typical underactuation. To tackle the challenges in the controller design for shipboard boom cranes, which is a representative type of shipboard cranes, a comprehensive framework embedding moving horizon estimation (MHE) in model predictive control (MPC) is constructed in this paper while considering disturbances and noise. By utilizing MHE, velocity information can be estimated with high precision even though this is influenced by disturbances and measurement noises. This expected superiority can greatly ease the difficulties in directly measuring all states of shipboard boom cranes. Then, the estimated information can be passed to MPC to derive the optimal control law by solving a constrained optimal problem. During this process, the physical limits of shipboard boom cranes are fully considered. Therefore, the practicability of the proposed framework is highly suitable for the actual requirements of shipboard boom cranes. Finally, the framework is verified by designing three typical scenarios with different disturbances and/or noises. Comparisons with other control approaches are also performed to demonstrate the effectiveness.

show abstract

“…The state constraints are adopted as T , respectively. For persuasive comparisons, the same parameters and settings as mentioned above were also adopted by NMPC in [31] and TMPC in [32].…”

Section: General Settingsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%