Energy-Based Adaptive Control for Variable-Rope-Length Double-Pendulum Ship-Borne Cranes: A Disturbance Rejection Stabilization Controller Without Overshoot

The operation process of double-pendulum ship-borne cranes with variable rope lengths is frequently complex, with numerous unpredictable circumstances, such as the swing of the load and external environmental interferences, which undoubtedly make the analysis of the swing characteristics of the system and the controller design more difficult. On this basis, an active disturbance rejection controller based on an energy coupling method is proposed to inhibit the double-pendulum swing angle. The controller can suppress the swing of the hook and load within 0.5 degrees under the conditions of continuous sea wave disturbances and external disturbances. Firstly, the energy function of the system is constructed by analyzing the dynamic model of the system. Then, an adaptive control method is designed by analyzing the energy function of the system. In addition, an overshoot limit term and an anti-swing term are added to limit the overshoot and swing of underactuated parts of the system. Then, the stability of the closed-loop system is strictly proven by using Lyapunov analysis. Finally, the simulation and experimental results indicate that the proposed controller ensures the accurate positioning of the jib and rope length without overshoot. Additionally, it effectively reduces the double-pendulum swing angle when there is an external interference such as waves, demonstrating strong robustness.