舰载特种起重机轨迹跟踪吊重防摆控制

针对舰载特种起重机系统轨迹跟踪吊重防摆控制问题，基于起重机系统串级形式的动力学模型，推广了李亚谱诺夫后推法的基本原理，提出了一种基于李亚谱诺夫后推法的轨迹跟踪吊重防摆控制算法．该方法基于反馈控制原理，利用起重机关节间的耦合作用，将吊重摆角和关节运动变量作为反馈量进行控制器的综合设计，以实现减小吊重摆角．控制系统仿真结果表明该控制方法在控制起重机机械臂各关节平稳的跟踪给定轨迹的同时，能够实现吊重在三维空间的防摆控制。

Trajectory tracking and load anti-sway control for ship-borne special crane

In response to the trajectory tracking and load anti-sway control problem for a ship-borne special crane system, a new trajectory tracking and load anti-sway approach based on backstepping control is presented, which extends the generalized Backstepping principle on the basis of a cascade dynamics model of a crane. According to the principle of feedback control, the approach makes use of the coupling action between crane joints, and a synthesis controller design that diminishes load sway angle by using load sway angle and joints variable as the feedback.Simulation results of the control system show it can drive the crane's joints to track the trajectory smoothly, but also can realize the anti-sway control of the load in the 3D space.