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A Robust Payload Control System Design for Offshore Cranes: Experimental Study
| Content Provider | MDPI |
|---|---|
| Author | Park, Hwan-Cheol Chakir, Soumayya Kim, Young-Bok Lee, Dong-Hun |
| Copyright Year | 2021 |
| Description | 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. |
| Starting Page | 462 |
| e-ISSN | 20799292 |
| DOI | 10.3390/electronics10040462 |
| Journal | Electronics |
| Issue Number | 4 |
| Volume Number | 10 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2021-02-14 |
| Access Restriction | Open |
| Subject Keyword | Electronics Industrial Engineering Marine Engineering Offshore Crane Nonlinear Analysis Uniformly Ultimately Bounded Parametric Uncertainty |
| Content Type | Text |
| Resource Type | Article |
