A Novel Approach To Anti-Sway Control For Marine Shipboard Cranes

This paper addresses the development of a novel antisway control approach for marine shipboard cranes, offering stability, safety, and efficiency during lifting, handling, transportation, and other manipulation. The proposed idea consists of the development of an integrated system with control strategies to both reduce the effect of three-dimensional payload pendulation and to minimize wave impact during shipboard crane manipulation. We propose to use a control mechanism based on energy dissipation. The simulation results confirm the principle and effectiveness of the proposed methods for damping out pendulation. In future work, we aim to minimize wave impact on the payload by reducing the dynamic forces through controlling the length of the hoist cable while adapting to the lateral wave velocity. During the final phase of this project, the proposed control strategy will be implemented as a real physical prototype for controlling different kinds of shipboard cranes.