Abstract
This paper presents a robust controller design of payload position control for an offshore crane facing disturbance and parametric uncertainties. The offshore operations with cranes while lifting and lowering a payload can be dangerous since safety and efficiency are affected by waves, wind and ocean currents. Such harsh sea conditions put the offshore crane and payload through unwanted disturbances and parametric uncertainties, which requires a robust control system to guarantee reliable performance of these systems. In this paper, we detail a controller designed based on uniformly ultimately bounded (UUB) theory, combined with the input-output linearization control technique (IOLC). The stability of the closed-loop system under the UUB conditions is analyzed using the energy-based Lyapunov function. To evaluate the control performance of the proposed controller, along with an IOLC and an integral sliding mode controller (ISMC), a comparison study is also conducted. The control performance and efficiency of the proposed controller are validated through experiments on an offshore crane model.
Highlights
Electronics 2021, 10, 462. https://Offshore operations of subsea installations for oil and natural gas extraction and production are becoming increasingly important
It is necessary to compensate for the rotational motions of the offshore crane caused by the pitch and roll motions of the vessel, thereby enhancing the performance of the payload position control
To evaluate the performance of the proposed controller, we introduce an integral sliding mode controller (ISMC) and compare its response with the uniformly ultimately bounded (UUB)+input-output linearization control technique (IOLC)
Summary
Offshore operations of subsea installations for oil and natural gas extraction and production are becoming increasingly important. Hydrodynamic forces affect the operability of the offshore crane system These hydrodynamic forces cannot be measured precisely nor predicted, they may unexpectedly increase or decrease and influence the overall dynamic response of the payload, which leads to undesirable rope tension variations. In [5,6], a feedforward control input for wave synchronization combined with linear feedback control input for the AHC system was proposed In these studies, the robustness of the entire controlled system was not guaranteed. It is necessary to compensate for the rotational motions of the offshore crane caused by the pitch and roll motions of the vessel, thereby enhancing the performance of the payload position control.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
