船用起重機(jī)自適應(yīng)神經(jīng)網(wǎng)絡(luò)滑模防擺控制

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中圖分類號(hào)：U664.4；U653.921；TP273 文獻(xiàn)標(biāo)志碼：A

Abstract：Aiming at the problem of underactuated shipborne jib cranes subjected to persistent uncertain upper-bound disturbances，an adaptive radial basis function neural network （ARBNN） hierarchical sliding mode control（HSMC）method（called ARBFNN-HSMC method） is proposed. The dynamical model of the ship-crane-payload complex system affcted by sustained sea waves is established using the Lagrangian method and converted into the standard form of an underactuated system. HSMC method is employed to design the control law，compensating for system parameter perturbations.ARBFNN is used to approximate and compensate for disturbances with uncertain upper bounds caused by external nonlinear disturbances. The asymptotic stability of the system is proven using the Lyapunov function. Simulation results demonstrate that the proposed method exhibits strong robustness under persistent unknown disturbances and effectively achieves the dual objectives ofpayload positioning and oscillation elimination.

Key words ： shipborne crane ;anti-sway control； underactuated system； hierarchical sliding mode control（HSMC）；adaptive radial basis function neural network （ARBNN）

0 引言

海上船用臂架起重機(jī)作為海洋工程領(lǐng)域的核心裝備之一，廣泛應(yīng)用于貨物轉(zhuǎn)運(yùn)、海底隧道搭建、沉船打撈、跨海建橋等項(xiàng)目中的水下吊裝作業(yè)和水下補(bǔ)給等[1-2]。（剩余7923字）