06.14)] 2012 4th international conference on intelligent and advanced systems (icias2012) - robust active heave compensated winch-driven overhead crane system for load transfer in ma..文档.pdf

2012 4th International Conference on Intelligent and Advanced Systems (ICIAS2012) Robust Active Heave Compensated Winch-Driven Overhead Crane System for Load Transfer in Marine Operation T. T. Wong, Collin H. H. Tang, M. Mailah, Faculty of Mechanical Engineering Universiti Teknologi Malaysia UTM Skudai, 81310 Johor, Malaysia Abstract-Active heave compensation (AHC) is important for some extent, disturbance rejection capability. However, a load transfer in marine operation using the overhead crane crane is a typical underactuated mechanical system, such that system (OCS). The control of marine OCS aims to continuously the number of control inputs is lower than the number of regulate the displacement of the cart and the payload sway angle, whilst at the same time, maintaining the gap between the system degrees of freedom (DOF) [3]. This characteristic has payload and the vessel main deck at a desirable and safe greatly restrained the controllability of OCS in marine distance. As the marine OHC system is to be operated in a operations, since the limited number of control inputs is continuously changing environment, with plenty inevitable insufficient to drive the almost infinite DOF in payload cable. disturbances and undesirable loads, a robust controller, i.e.,