4.7 Review

Modeling and nonlinear energy-based anti-swing control of underactuated dual ship-mounted crane systems

期刊

NONLINEAR DYNAMICS
卷 106, 期 1, 页码 323-338

出版社

SPRINGER
DOI: 10.1007/s11071-021-06837-x

关键词

Dual ship-mounted crane systems; Anti-swing control; Nonlinear system; Motion control; Lyapunov techniques

资金

  1. Hebei Province Natural Science Foundation for Youths [F2020202058]
  2. National Natural Science Foundation of China for Youths [62103128]
  3. National Natural Science Foundation of China [61873132]

向作者/读者索取更多资源

This study established the dynamic model of dual ship-mounted crane systems based on Lagrange's method, and developed two energy-based nonlinear controllers. The controllers considered saturation constraints and achieved accurate positioning and effective elimination of payload swing. The stability of the system was analyzed using Lyapunov techniques and Lasalle's invariance principle.
As the volume and the mass of the payload increases, it is often necessary to use two ship-mounted cranes to jointly transport huge payloads under marine environment. Compared with a single ship-mounted crane, dual ship-mounted cranes contain more state variables, geometric constraints and coupling dynamics, which bring more challenges in kinematic analysis and controller design for such complicated underactuated systems. In order to solve these problems, the dynamic model of the dual ship-mounted crane systems is established based on Lagrange's method. Considering different practical requirements, two energy-based nonlinear controllers for dual ship-mounted cranes are developed, including a full-state feedback control method and an output feedback control method. More preciously, during the control design process, the saturation constraints of the controllers have been fully considered. Meanwhile, the proposed controllers can achieve accurate positioning of the double-constrained derricks as well as effective elimination of payload swing. The stability of the equilibrium point of the closed-loop system is analyzed by using Lyapunov techniques and Lasalle's invariance principle. As far as we know, the modeling and the output feedback controller design of dual ship-mounted cranes are proposed for the first time in this paper. At the same time, the design and analysis process does not need to linearize the complex nonlinear dynamics equations, while the proposed output feedback control method is robust against the situations when the velocity signals are unknown/unavailable. Finally, a series of experiments are carried out to verify the effectiveness of the proposed nonlinear controllers.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.7
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据