Observer-Based Nonlinear Robust Control of Floating Container Cranes Subject to Output Hysteresis

Abstract

A container crane mounted on a pontoon is utilized to transfer containers to smaller ships when a large container ship cannot reach the shallow water port. The shipboard container is considered as an underactuated system having complicated kinematic constraints and hysteretic nonlinearities, with only two actuators to conduct simultaneous tasks: tracking the trolley to destination, lifting the container to the desired cable length, and suppressing the axial container oscillations and container swing. Parameter variations, wave-induced motions of the ship, wind disturbance, and nonlinearities remain challenges for control of floating container cranes. To deal with these problems, this study presents the design of two nonlinear robust controllers, taking into account the influence of the output hysteresis, and using velocity feedback from a state observer. Control performance of the proposed controllers is verified in both simulation and experiments. Together with consistently stabilizing outputs, the proposed control approach well rejects hysteresis and disturbance.

Dynamic Modeling and Analysis of the Telescopic Sleeve Antiswing Device for Shipboard Cranes

“…Mechanical antiswing is to reduce the swing by consuming the energy of payload swing by the mechanical method. For the above two antiswing methods, many studies have been conducted by scientific researchers [29][30][31][32][33][34][35][36][37][38][39][40].…”

“…e boom and rope of ship-mounted crane could arrive at their preset positions in finite time, and the payload swing could be completely suppressed. Tuan et al [31] presented a design of two nonlinear robust controllers, taking into account the influence of the output hysteresis and using velocity feedback from a state observer. Tuan et al [32] proposed a robust adaptive system for a ship-mounted container crane.…”

A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

“…Obviously, this depends on the operating experience of the operator and cannot ensure the locating accuracy. In addition, the bridge crane is a typical underactuated system, and the payload sway will inevitably occur during acceleration and deceleration (Cuong et al, 2021;Tuan et al, 2019). In recent years, many anti-sway control methods have been proposed for the anti-sway control of the crane, but most of them treat the crane as a single-pendulum.…”

“…In the past couple of decades, a variety of cranes have been studied, such as offshore cranes (Fantuzzi et al, 2021;Ku¨chler et al, 2011;Messineo and Serrani, 2009;Tuan et al, 2019), tower cranes (Yang et al, 2020) and bridge cranes (Adeli and Saleh, 1997;Cuong et al, 2021;Solazzi and Cima, 2019;. Many scholars have dedicated to studying the control issue of bridge cranes, and designed a series of meaningful controllers (Cuong et al, 2021;Van Trieu et al, 2021;Wu et al, 2020).…”