ABSTRACT
The article proposes a nonlinear optimal control approach for the model of boom cranes being mounted on vessels. The dynamic model of the boom cranes undergoes approximate linearisation with the use of Taylor series expansion around a temporary operating point which is recomputed at each iteration of the control method. For the approximately linearised model, an H-infinity feedback controller is designed. The linearisation procedure relies on the computation of the Jacobian matrices of the state-space model of the system. For the computation of the controller's feedback gains, an algebraic Riccati equation is solved at each time step of the control method. The new nonlinear optimal control approach achieves fast and accurate tracking for all state variables of the boom cranes, under moderate variations of the control inputs. The stability properties of the control scheme are proven through Lyapunov analysis.
Disclosure statement
No potential conflict of interest was reported by the author(s).