Antiswing Control and Trajectory Planning for Offshore Cranes

Safe handling of heavy payloads in an off-shore environment requires careful crane maneuvering to avoid collision with obstacles and other equipment. The residual swing from a hanging payload can ultimately lead to danger and high cost failures if not properly dealt with. This paper investigates an open-loop control method for eliminating the payload swing for hanging loads on offshore knuckle-boom cranes. A trajectory tracking method is designed for payload swing suppression for open-loop control and based on the iterative learning algorithm. It is shown that the proposed anti-swing control method guarantees asymptotic convergence of the swing, the angular velocity, and the angular acceleration of the payload using Lyapunov techniques. The simulation results show the superior performance of the proposed anti-swing control method.