Marine cranes enable ship-to-ship payload transfer: Rapid swing control under input saturation and uncertainty constraints

Guangrui Luan, Menghua Zhang, Guijie Liu, Donghong Ning, Ming Li, Haiping Du

Abstract: In this paper, an adaptive fuzzy finite-time tracking control (AFFTC) based on a command filter for marine cranes is proposed to facilitate ship-to-ship payload transfer and swing suppression in open-sea environments. Specifically, an adaptive fuzzy logic structure is employed to approximate the system uncertainties, and a finite-time command filter backstepping controller is integrated with it. Finally, an auxiliary dynamic system is utilized to address the input saturation issue. This approach is implemented through the integration of a novel fused coordinate system in the marine ship-to-ship crane system. Meanwhile, it is rigorously proven via the Lyapunov method that the designed control method can converge to zero in finite-time, rather than a small neighborhood. Through comparisons with existing control methods, the experimental results verify the effectiveness and robustness of the designed controller.

External IDs:doi:10.1016/j.ymssp.2025.113241