Journal
AUTOMATION IN CONSTRUCTION
Volume 137, Issue -, Pages -Publisher
ELSEVIER
DOI: 10.1016/j.autcon.2022.104212
Keywords
Actuator saturation; Double-pendulum effect; Fractional-order disturbance observer; Offshore crane; Stabilizing control
Funding
- National Natural Science Foundation of China [62103233]
- Key Research and Development Project of Shandong Province [2021CXGC010701]
- Joint Founds of National Natural Science Foundation of China-Shandong Province [U1706228]
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This paper proposes a stabilizing control method for a double pendulum offshore crane, which can suppress swings in the presence of disturbances and actuator saturations, and demonstrates strong robustness to various disturbances.
The stabilizing control of a double pendulum offshore crane in the presence of matched disturbances, unmatched disturbances and the actuator saturations is a challenging problem. To solve this problem, an anti-swing partially saturated control method is proposed. Specially, a Fractional-Order Disturbance Observer (FODO) is designed to compensate for the matched disturbances and a feedback stabilizing controller is proposed to regulate the hook and cargo to desired positions and suppress swings. Afterwards the closed-loop asymptotical stability is strictly proven. Extensive simulation results are given to demonstrate that the proposed controller could suppress the swing effectively without exceeding the actuator saturations and has strong robustness to various disturbances.
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