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• W4248580672 abstract "In this paper, a nonlinear model predictive controller for shipboard boom cranes is proposed, while considering the ship roll motion caused by sea waves. After coordination transformation, the ship roll motion becomes part of new state variable, which can simplify the controller design significantly by making the time-varying reference value to be constants. All physical state constraints and input saturation are well considered and handled simultaneously by resorting to the virtues of nonlinear model predictive control (NMPC). CasADi and multiple shooting technique are employed to improve the computation efficiency of NMPC, thus the real-time implementation for shipboard boom cranes can be carried out. Moreover, simulations are elaborately designed to verity the effectiveness of the proposed controllers, satisfied performances are obtained." @default.
• W4248580672 created "2022-05-12" @default.
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• W4248580672 date "2021-10-22" @default.
• W4248580672 modified "2023-09-23" @default.
• W4248580672 title "Nonlinear Model Predictive Control of Shipboard Boom Cranes with Ship Roll Motion" @default.
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• W4248580672 doi "https://doi.org/10.1109/cac53003.2021.9728657" @default.
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