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<p>An adaptive sliding mode variable structure control method is proposed for the shipboard cranes in the presence of unknown parameters. The proposed method can solve the problem of frequent controller tuning and effectively reduce the payload pendulation. First, the length change of the rope and unmodeled disturbance are considered in the model, then the model is divided into the actuated and unactuated parts. The error function is induced into the sliding mode surface to design the equivalent control law, and unmodeled disturbance is estimated by the nonlinear extended state observer. Then, the mass of the payload is equal to the estimated parameter, and an adaptive law is designed to eliminate errors of them. Moreover, the asymptotic stability of the closed-loop system is assured by carefully designed Lyapunov techniques. Finally, a comparative study of numerical simulation under different conditions is investigated. The results show that the proposed method can effectively reduce payload swing, which further illustrates the satisfactory performance of the proposed method.</p>

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Nonlinear control of shipboard cranes: pendulation reduction via adaptive sliding mode approach

  • 期刊论文

  • 发表日期：

    2025年3月17日

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  • Mingxiao Sun,
  • Xiaojun Sun,
  • Nan Wang,
  • Yongde Zhang,
  • Tiantian Luan,
  • Changyu Ji,
  • Xiaoliang Yuan,
  • Xiaogang Li

摘要

An adaptive sliding mode variable structure control method is proposed for the shipboard cranes in the presence of unknown parameters. The proposed method can solve the problem of frequent controller tuning and effectively reduce the payload pendulation. First, the length change of the rope and unmodeled disturbance are considered in the model, then the model is divided into the actuated and unactuated parts. The error function is induced into the sliding mode surface to design the equivalent control law, and unmodeled disturbance is estimated by the nonlinear extended state observer. Then, the mass of the payload is equal to the estimated parameter, and an adaptive law is designed to eliminate errors of them. Moreover, the asymptotic stability of the closed-loop system is assured by carefully designed Lyapunov techniques. Finally, a comparative study of numerical simulation under different conditions is investigated. The results show that the proposed method can effectively reduce payload swing, which further illustrates the satisfactory performance of the proposed method.