Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 19, Issue 5, Pages 1953-1961Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-020-0333-9
Keywords
Anti-sway control; crane control; neural network estimator; sliding mode control; underwater transference
Categories
Funding
- National Research Foundation (NRF) of Korea under Ministry of Science and ICT, Korea [NRF-2020R1A2B5B03096000]
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A neural network-based robust anti-sway control method is proposed for a crane system transporting an underwater object. By embedding estimators in the system to compensate for uncertainties and unmodeled dynamics, the control performance against uncertainties is improved and chattering phenomena are reduced.
In this paper, a neural network-based robust anti-sway control is proposed for a crane system transporting an underwater object. A dynamic model of the crane system is developed by incorporating hoisting dynamics, hydrodynamic forces, and external disturbances. Considering the various uncertain factors that interfere with accurate payload positioning in water, neural networks are designed to compensate for unknown parameters and unmodeled dynamics in the formulated problem. The neural network-based estimators are embedded in the anti-sway control algorithm, which improves the control performance against uncertainties. A sliding mode control with an exponential reaching law is developed to suppress the sway motions during underwater transportation. The asymptotic stability of the sliding manifold is proved via Lyapunov analysis. The embedded estimator prevents the conservative gain selection of the sliding mode control, thus reducing the chattering phenomena. Simulation results are provided to verify the effectiveness and robustness of the proposed control method.
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