期刊
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
卷 16, 期 3, 页码 1125-1136出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TASE.2018.2872621
关键词
Lyapunov methods; observer-based feedback control; offshore ship-mounted crane
资金
- National Science and Technology Pillar Program of China [2013 BAF07B03]
- National Science Fund for Distinguished Young Scholars of China [61325017]
- National Natural Science Foundation of China [11372144]
We propose, in this paper, an observer-based nonlinear feedback controller for four degrees of freedom (4-DOF) offshore ship-mounted tower cranes, which includes a robust-type term to address the observation uncertainty, and a switching logic tuning mechanism to update the involved unknown parameter. As a typical nonlinear underactuated mechatronic system, unlike the land-fixed tower cranes, an offshore ship-mounted tower crane also suffers from persistent disturbances caused by sea waves or currents, which leads to many difficulties and challenges in the controller design of such systems. Existing offshore crane control methods require either linearizations or approximations when performing analysis; moreover, most of them are only applicable for simplified 2-DOF crane models, and the ranges of system state errors cannot be guaranteed during the overall process. Motivated by these facts, to achieve simultaneous accurate jib/trolley positioning and fast payload swings suppression against complex unknown external disturbances, in particular, a disturbance observer is first designed in this paper, based on which a novel nonlinear switching logic-based control scheme for offshore cranes with jib rotation and horizontal transportation is proposed. As far as we know, the proposed method yields the first observer-based feedback closed-loop control without simplification operations to the original 4-DOF offshore tower crane dynamics and achieves the first asymptotic stability of the closed-loop system's equilibrium point for offshore cranes. To support the theoretical derivation, the corresponding stability analysis of the closed-loop system's equilibrium point is implemented by Lyapunov techniques. Numerous simulation and hardware experimental results are presented to demonstrate the superior performance of the proposed method.
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