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Title:Backstepping control of heavy lift operations with crane vessels
Authors:J. Ye, V. Reppa, R.R. Negenborn

Conference:21st IFAC World Congress (IFAC2020)
Address:Berlin, Germany
Date:July 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 three degrees of freedom physical load model. The proposed control scheme is designed following a backstepping approach using command filters 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 stabilize the load position during the vessel dynamic positioning.

Reference:J. Ye, V. Reppa, R.R. Negenborn. Backstepping control of heavy lift operations with crane vessels. Accepted for the 21st IFAC World Congress (IFAC2020), Berlin, Germany, July 2020.
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