期刊
AUTOMATION IN CONSTRUCTION
卷 137, 期 -, 页码 -出版社
ELSEVIER
DOI: 10.1016/j.autcon.2022.104212
关键词
Actuator saturation; Double-pendulum effect; Fractional-order disturbance observer; Offshore crane; Stabilizing control
资金
- 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]
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.
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。
推荐
暂无数据