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

作     者：Tong Yang Ning Sun He Chen Yongchun Fang Tong Yang;Ning Sun;He Chen;Yongchun Fang

作者机构：Institute of Robotics and Automatic Information Systems(IRAIS)College of Artificial IntelligenceTianjin 300350China Tianjin Key Laboratory of Intelligent Robotics(tjKLIR)Nankai UniversityTianjin 300350China IEEE School of Artificial IntelligenceHebei University of TechnologyTianjin 300401China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2020年第7卷第3期

页      面：892-900页

核心收录：

学科分类：0810[工学-信息与通信工程] 1205[管理学-图书情报与档案管理] 08[工学] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：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) the Tianjin Research Innovation Project for Postgraduate Students(2019YJSB070)。 

主　　题：Boom/rope positioning offshore cranes swing elimination underactuated systems 

摘      要：Offshore cranes are widely applied to transfer largescale 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.