Abstract
This paper introduces a payload position control system for an offshore crane to cope with uncertainties. On the sea, marine systems are exposed to various disturbances and uncertainties provoked by the vessel motion, hydrodynamic forces, etc. These factors deteriorate the safety and efficiency of work operations. To overcome these problems, we propose a novel control system design method based on UUB (Uniformly Ultimately Bounded) theory combined with the input-output linearization method. To guarantee the given state error bound by uniformly ultimately boundedness, the analysis of stability condition using the energy-based Lyapunov function is conducted. Then, the particle swarm optimization technique is used to obtain the optimal control gains of the control system. Finally, the control performance and effectiveness of the proposed control system are validated through a set of simulation tests.
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