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

The operation process of the double-pendulum ship-borne cranes with variable rope length is frequently quite complex, with numerous unpredictable circumstances, such as the swing of the load and external environmental interference, which will 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 energy coupling method is proposed to inhibit the double-pendulum swing angles. Firstly, the energy function of the system is constructed by analyzing the dynamic model of the system, and 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 the swing of underactuated parts of the system. Then, the stability of the closed loop system is strictly proved by using Lyapunov analysis method. Finally, the simulation and experiment results indicate that the proposed controller ensures accurate positioning of the jib and rope length without overshoot. Additionally, it effectively reduces the double-pendulum swing angles when there is external interference such as waves, demonstrating strong robustness.