Abstract
Marine ship-mounted cranes are widely used in maritime transportation. For security concern, the payload swing needs to be limited within safe range. However, due to the underactuated nature of the system, the swing angle is hard to be controlled. Worse still, the control problem becomes more challenging when considering the effect of ship-induced disturbances caused by sea waves on the system. Besides, to avoid actuator saturation, the constraints of control input also need to be considered. To this end, in this paper, a robust tube-based model predictive control (TMPC) method, which successfully guarantees the constraints of both input and swing angle, is proposed to achieve satisfactory control performance even under the persistent ship roll perturbation. That is, for the marine ship-mounted crane, a discrete model is first obtained by some elaborate transformation, based on which a tube-based model predictive controller is constructed. To solve the constraint problem of payload swing, which is tough for traditional MPC, some delicate analysis is presented. Specifically, through the coupling relationship between swing angle and trolley acceleration, the swing angle constraint is successfully converted to input constraint. At last, simulation results are presented to illustrate the effectiveness and robustness of the proposed method.
This work is supported by the National Natural Science Foundation of China under Grant 62203235, 61873132, the Natural Science Foundation of Tianjin under Grant 21JCQNJC00090, the Key Projects of the Joint Fund of the National Natural Science Foundation of China under Grant U22A2050, and the Joint Fund of Guangdong Basic and Applied Basic Research Fund under Grant 2022A1515110046.
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Notes
- 1.
Ship’s roll motion \(\alpha (t)\) is supposed to be measurable, while its interference with the ship-mounted crane is unknown.
- 2.
The detailed proof is in [1].
- 3.
For clarity, \(x(k+i)\) denotes the prediction value of x at time \(k+i\) based on time k.
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Lin, J., Fang, Y., Lu, B. (2023). Robust Tube-Based Model Predictive Control for Marine Ship-Mounted Cranes. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_23
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DOI: https://doi.org/10.1007/978-981-99-6498-7_23
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