Nonlinear Stabilizing Control for Ship-Mounted Cranes With Ship Roll and Heave Movements: Design, Analysis, and Experiments

Abstract

Presently, ship-mounted cranes are playing more and more important roles in modern ocean transportation and logistics. Different from traditional land-fixed crane systems, ship-mounted cranes present much more complicated nonlinear dynamical characteristics and they are persistently influenced by different mismatched disturbances due to harsh sea environments, e.g., sea waves, ocean currents, sea winds, and so forth; these unfavorable factors bring about many challenges for the development of effective control schemes. This paper presents a novel nonlinear stabilizing control strategy for underactuated ship-mounted crane systems. Specifically, some novel coordinate change procedures are first introduced to tackle the disturbing terms by transforming the original dynamics into a new form, which facilitates both controller design and stability analysis. After that, a nonlinear control law is constructed to regulate the cargo position to the desired location asymptotically, in the presence of ship roll and heave movements. The boundedness and convergence of the closed-loop signals are proven with Lyapunov-based analysis. To the best of our knowledge, this is the first closed-loop scheme that can achieve asymptotic control results, without linearizing/approximating the original nonlinear dynamics when performing controller design and stability analysis, for underactuated ship-mounted cranes with ship roll and heave movements. Hardware experimental results are included to show that the proposed control method can achieve satisfactory control performance and it admits strong robustness against external perturbations.