Neural Network-Based Adaptive Antiswing Control of an Underactuated Ship-Mounted Crane With Roll Motions and Input Dead Zones
Neural Network-Based Adaptive Antiswing Control of an Underactuated Ship-Mounted Crane With Roll Motions and Input Dead Zones
复制标题
基于神经网络的带横摇运动和输入死区的欠驱动船载起重机的自适应防摆控制
DOI：
10.1109/tnnls.2019.2910580
复制
发表时间：
2020-03-01
影响因子：
10.4
通讯作者：
Fang, Yongchun
中科院分区：
文献类型：
--
作者：
Yang, Tong;Sun, Ning;Fang, Yongchun
As a type of indispensable oceanic transportation tools, ship-mounted crane systems are widely employed to transport cargoes and containers on vessels due to their extraordinary flexibility. However, various working requirements and the oceanic environment may cause some uncertain and unfavorable factors for ship-mounted crane control. In particular, to accomplish different control tasks, some plant parameters (e.g., boom lengths, payload masses, and so on) frequently change; hence, most existing model-based controllers cannot ensure satisfactory control performance any longer. For example, inaccurate gravity compensation may result in positioning errors. Additionally, due to ship roll motions caused by sea waves, residual payload swing generally exists, which may result in safety risks in practice. To solve the above-mentioned issues, this paper designs a neural network-based adaptive control method that can provide effective control for both actuated and unactuated state variables based on the original nonlinear ship-mounted crane dynamics without any linearizing operations. In particular, the proposed update law availably compensates parameter/structure uncertainties for ship-mounted crane systems. Based on a 2-D sliding surface, the boom and rope can arrive at their preset positions in finite time, and the payload swing can be completely suppressed. Furthermore, the problem of nonlinear input dead zones is also taken into account. The stability of the equilibrium point of all state variables in ship-mounted crane systems is theoretically proven by a rigorous Lyapunov-based analysis. The hardware experimental results verify the practicability and robustness of the presented control approach.
