OPENTECHNICAL PUBLICATION
OT-2026-000002966

Adaptive control method and system for offshore cranes without requiring velocity feedback

Published: 2026-09-15T19:16:26.674186Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002966
Categories: Lifting, Positioning & Manipulation > Hoists and Cranes

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ABSTRACT

An adaptive control method for offshore cranes without requiring velocity
feedback, in which parameters of an offshore crane system are obtained, and a
three-dimensional dynamic model of an offshore crane system is constructed
based on ship's roll and pitch motions; a total energy function is
constructed based on the three-dimensional dynamic model, and an energy change
is described according to a change rate of a total energy of the offshore
crane system; based on the three-dimensional dynamic model, auxiliary
variables are constructed to replace a velocity signal of a state variable in
a controller; based on an inverse trigonometric saturation function and the
auxiliary variables, an adaptive controller without requiring velocity
feedback is constructed; and the offshore crane system is controlled based on
the adaptive controller for control to realize positioning and sway
suppression. An adaptive control system is also provided.

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OpenTechnical publication OT-2026-000002966
Published 2026-09-15T19:16:26.674186Z
https://opentechnical.org/p/OT-2026-000002966