Abstract
AbstractAs an important industrial transportation tool, the shipboard rotary crane is widely used in marine environment to accomplish transportation tasks between a single ship and the harbor, or between different ships. Most exsisting control methods for shipboard rotary crane is developed on linearized/approximated dynamics, and most of them require exact velocity measurement signals. However, practical shipboard cranes systems inevitably suffer from many complex interferences, such as sea wind, sea wave as well as system uncertainties (e.g. unknown payload mass and boom mass). To deal with thess problems, in this paper, a nonlinear output feedback antiswing controller for Three-dimensional (3D) shipboard rotary crane systems is developed under the situations when the velocity signals are unmeasurable. Specifically, an energy storage function which consists of kinetic and potential energies is constructed, on the basis of that, the accurate rotation positioning and load swing suppression are achieved simultaneously without any approximation or linearization for the nonlinear dynamics. The Lyapunov’s theorem and LaSalle’s invariance principle are utilized to verify the asymptotic stability of the closed-loop system. Finally, numerical simulations are implemented to further prove the effectiveness of the proposed output feedback controller.KeywordsUnderactuated systemThree-dimensional (3D) shipboard craneOutput feedback controlVibration/swing suppression
Published Version
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