A Robust Payload Control System Design for Offshore Cranes: Experimental Study

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 ocea...

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Main Authors:	Hwan-Cheol Park, Soumayya Chakir, Young-Bok Kim, Dong-Hun Lee
Format:	Article
Language:	English
Published:	MDPI AG 2021-02-01
Series:	Electronics
Subjects:	offshore crane nonlinear analysis uniformly ultimately bounded parametric uncertainty
Online Access:	https://www.mdpi.com/2079-9292/10/4/462

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spelling	doaj-bb0f3795825b4ae580552199e6aa2c172021-02-15T00:00:10ZengMDPI AGElectronics2079-92922021-02-011046246210.3390/electronics10040462A Robust Payload Control System Design for Offshore Cranes: Experimental StudyHwan-Cheol Park0Soumayya Chakir1Young-Bok Kim2Dong-Hun Lee3Ship Training and Operations Center, Pukyong National University, Busan 48513, KoreaDepartment of Mechanical System Engineering, Pukyong National University, Busan 48513, KoreaDepartment of Mechanical System Engineering, Pukyong National University, Busan 48513, KoreaDepartment of Mechanical System Engineering, Pukyong National University, Busan 48513, KoreaThis 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.https://www.mdpi.com/2079-9292/10/4/462offshore cranenonlinear analysisuniformly ultimately boundedparametric uncertainty
collection	DOAJ
language	English
format	Article
sources	DOAJ
author	Hwan-Cheol Park Soumayya Chakir Young-Bok Kim Dong-Hun Lee
spellingShingle	Hwan-Cheol Park Soumayya Chakir Young-Bok Kim Dong-Hun Lee A Robust Payload Control System Design for Offshore Cranes: Experimental Study Electronics offshore crane nonlinear analysis uniformly ultimately bounded parametric uncertainty
author_facet	Hwan-Cheol Park Soumayya Chakir Young-Bok Kim Dong-Hun Lee
author_sort	Hwan-Cheol Park
title	A Robust Payload Control System Design for Offshore Cranes: Experimental Study
title_short	A Robust Payload Control System Design for Offshore Cranes: Experimental Study
title_full	A Robust Payload Control System Design for Offshore Cranes: Experimental Study
title_fullStr	A Robust Payload Control System Design for Offshore Cranes: Experimental Study
title_full_unstemmed	A Robust Payload Control System Design for Offshore Cranes: Experimental Study
title_sort	robust payload control system design for offshore cranes: experimental study
publisher	MDPI AG
series	Electronics
issn	2079-9292
publishDate	2021-02-01
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.
topic	offshore crane nonlinear analysis uniformly ultimately bounded parametric uncertainty
url	https://www.mdpi.com/2079-9292/10/4/462
work_keys_str_mv	AT hwancheolpark arobustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy AT soumayyachakir arobustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy AT youngbokkim arobustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy AT donghunlee arobustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy AT hwancheolpark robustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy AT soumayyachakir robustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy AT youngbokkim robustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy AT donghunlee robustpayloadcontrolsystemdesignforoffshorecranesexperimentalstudy
_version_	1724269436510142464

A Robust Payload Control System Design for Offshore Cranes: Experimental Study

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