Antiswing control of offshore cranes under ship rolling disturbances: an active disturbance rejection control based approach

The offshore crane is an indispensable transportation tool on the sea, which is one of the core technical equipment in various scenes of marine engineering. In recent years, the demand for offshore cranes has increased, so it is necessary to improve its safety performance and intelligent operation as soon as possible. The offshore crane is not only a complex underactuated system, but also faces the special application environment on the sea, which makes the control task more difficult. In order to improve the anti-swing control performance of offshore cranes under ship rolling disturbance, an active disturbance rejection control method is designed by using differential flatness technology. This method can efficiently realize the control under the influence of ship rolling motion. Specifically, we prove the differential flatness of the system, solve the problem of state couplings, and construct effective flat outputs. Then, the control task of the offshore crane is further transformed into the control problem of flat outputs. Based on this, using the constructed flat outputs, an active disturbance rejection controller is designed. Finally, sufficient simulation tests and experimental tests are carried out to comprehensively verify the control performance of the proposed method.