This paper studies the automatic control problem of offshore boom cranes, which often work in harsh sea conditions. First, some novel composite signals are elaborately designed, which consist of both payload swing information and boom/rope positioning error. By utilizing the composite signals as feedback, the constructed nonlinear controller manages to react more efficiently to the uncertainties/disturbances, and hence achieves better overall control performance and stronger robustness. Particularly, the control gains are updated in real time according to the system dynamic response, so as to further improve the efficiency of the designed controller. Through rigorous mathematical deductions, it is proved that the system state variables converge to the desired values asymptotically. The conducted experiments show that the proposed method can accurately position the payload, while simultaneously suppressing its swing motion.

本文研究了海上臂架起重机经常在恶劣的海况下工作的自动控制问题。首先，精心设计了一些新颖的复合信号，包括有效载荷摆动信息和吊杆/绳索定位误差。通过利用复合信号作为反馈，构建的非线性控制器能够更有效地对不确定性/干扰做出反应，从而实现更好的整体控制性能和更强的鲁棒性。特别是根据系统动态响应实时更新控制增益，进一步提高设计控制器的效率。通过严格的数学推导，证明系统状态变量渐近收敛到期望值。