Backstepping Control of Heavy Lift Operations with Crane Vessels

Ye, J.; Reppa, V.; Negenborn, R.R.

doi:10.1016/j.ifacol.2020.12.1836

Backstepping Control of Heavy Lift Operations with Crane Vessels

Title

Backstepping Control of Heavy Lift Operations with Crane Vessels

Author

Ye, J. (TU Delft Marine and Transport Technology)
Reppa, V. (TU Delft Transport Engineering and Logistics)
Negenborn, R.R. (TU Delft Transport Engineering and Logistics)

Department

Marine and Transport Technology

Date

2020

Abstract

Offshore structures with large mass are installed and removed by heavy lift vessels. During offshore constructions, two safety-critical interconnected operations take place, the dynamic positioning of the vessel and the lifting of the heavy structure by an immovable boom crane on the vessel. Existing studies on offshore boom crane control either neglect the structure (load) dynamics in sway and the vessel movement, or consider the boom angle of the crane controllable. In this paper, we present a control scheme for underactuated offshore structure, taking into consideration the impact of the dynamic positioning of the vessel on the physical load model. The proposed control scheme is designed following a backstepping control approach using command filtering to generate virtual control signals and their derivatives avoiding the analytic differentiation. Simulation results are obtained by applying the control scheme in a dynamic positioned vessel-load model showing that the controller is able to stablize the load position during the vessel dynamic positioning.

Subject

Backstepping control
Command filtering
Offshore heavy lift operation
Offshore installation
Underactuated boom crane

To reference this document use:

http://resolver.tudelft.nl/uuid:6fb28242-524f-4713-abd6-7d595fef2182

DOI

https://doi.org/10.1016/j.ifacol.2020.12.1836

ISSN

1474-6670

Source

IFAC-PapersOnLine, 53 (2), 14704-14709

Event

21st IFAC World Congress 2020, 2020-07-12 → 2020-07-17, Berlin, Germany