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Control design of a crane for offshore lifting operations

Spathopoulos, M.P. and Fragopoulos, D. (2001) Control design of a crane for offshore lifting operations. In: Nonlinear control in the year 2000, vol 2. Lecture Notes in Control and Information Sciences, 259 (2). Springer, pp. 469-486. ISBN 1-85233-364-2

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Abstract

This paper presents a control system that reduces pendulation of suspended loads in offshore lifting operations. We develop a model of the ship crane together with a designed anti-pendulation arm. We derive two different types of models for the system and we apply non-linear and linear control design techniques. The non-linear design involves Liapunov analysis and the linear involves LQG and generalized predictive control. The advantage for the linear control is that the use of the vessel dynamics and the sea wave disturbances in the control design improves considerably the behavior of the controlled system.