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Marine crane is a typical underactuated system, which shows strong nonlinear characteristics and high flexibility. However, due to the complex disturbances of the wave motion, it is difficult to achieve accurately control for the marine crane. In this study, a dynamic model of 3-DOF tower marine crane is established firstly, based on which, a coupling control strategy based on energy analysis is designed. The proposed controller can ensure that the state error of the closed-loop system is bounded and gradually converges to zero. Furthermore, the stability of the closed-loop system and the convergence of the system state are proved by using Lyapunov method and Russell invariance theorem. Finally, the simulation results verify the correctness and effectiveness of the designed controller.

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Modeling of Marine Crane System with Complex Disturbance and Swing Reduction Control Based on Energy

  • 会议论文

  • 发表日期：

    2025年

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  • Yihao Shi,
  • Wei Peng,
  • Menghua Zhang

摘要

Marine crane is a typical underactuated system, which shows strong nonlinear characteristics and high flexibility. However, due to the complex disturbances of the wave motion, it is difficult to achieve accurately control for the marine crane. In this study, a dynamic model of 3-DOF tower marine crane is established firstly, based on which, a coupling control strategy based on energy analysis is designed. The proposed controller can ensure that the state error of the closed-loop system is bounded and gradually converges to zero. Furthermore, the stability of the closed-loop system and the convergence of the system state are proved by using Lyapunov method and Russell invariance theorem. Finally, the simulation results verify the correctness and effectiveness of the designed controller.