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To address the control issues of a five-degree-of-freedom marine crane with parameter uncertainties, external disturbances, and unmodeled disturbances, an adaptive sliding mode and PD mode switching controller (ASMC-PD) is proposed. Firstly, a five-degree-of-freedom marine crane model is established, and a dynamic analysis method for the crane under sea conditions is: proposed, which takes into account the effects of wave excitation and gravity. Secondly, the uncertainties in system parameters and unmodeled disturbances are estimated and compensated through adaptive laws, and then a composite control law is obtained by combining sliding mode control and PD mode switching to enhance the anti-interference ability of the marine crane. The stability of the proposed control system is strictly proved using the Lyapunov method. Finally, through simulation experiments, the control effects of this method, PID, MPC and undiminished pendulum are verified. The simulation results show that, compared with the no anti-sway control, the lateral and longitudinal sway angles of ASMC-PD are reduced by more than 50%. Compared with PID control and MPC control, especially in dynamic sea conditions of 4 to 6 levels, the pendulum reduction efficiency of ASMC-PD is very significant, confirming the feasibility and effectiveness of the method.

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Anti-swing Control of 5-DOF Marine Crane Based on ASMC-PD Mode Switching Method

  • 会议论文

  • 发表日期：

    2026年

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  • Qin Zhang,
  • Gaoli Xu,
  • Xiong Hu

摘要

To address the control issues of a five-degree-of-freedom marine crane with parameter uncertainties, external disturbances, and unmodeled disturbances, an adaptive sliding mode and PD mode switching controller (ASMC-PD) is proposed. Firstly, a five-degree-of-freedom marine crane model is established, and a dynamic analysis method for the crane under sea conditions is: proposed, which takes into account the effects of wave excitation and gravity. Secondly, the uncertainties in system parameters and unmodeled disturbances are estimated and compensated through adaptive laws, and then a composite control law is obtained by combining sliding mode control and PD mode switching to enhance the anti-interference ability of the marine crane. The stability of the proposed control system is strictly proved using the Lyapunov method. Finally, through simulation experiments, the control effects of this method, PID, MPC and undiminished pendulum are verified. The simulation results show that, compared with the no anti-sway control, the lateral and longitudinal sway angles of ASMC-PD are reduced by more than 50%. Compared with PID control and MPC control, especially in dynamic sea conditions of 4 to 6 levels, the pendulum reduction efficiency of ASMC-PD is very significant, confirming the feasibility and effectiveness of the method.