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Obstacle avoidance control for ship-mounted cranes under ocean roll disturbance
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DOI：10.1016/j.cnsns.2026.110471.png)
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Abstract
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This paper presents an obstacle avoidance control scheme for positioning and anti-sway of underactuated ship-mounted cranes under roll disturbances. To counteract the effects of dynamic deck obstacles induced by roll disturbances, a barrier Lyapunov function framework is proposed by integrating real time ship roll feedback into the control design. This mechanism establishes a fading constraint feature where the obstacle avoidance forces automatically diminish to zero as the payload approaches its destination, thereby avoiding interference with the final regulation phase and preserving high precision positioning accuracy. Furthermore, the cable length constraint is managed within a constant safety boundary configuration to guarantee that the cable length remains rigorously within safe physical operating limits throughout the transfer process. A theoretical analysis based on Lyapunov stability and LaSalle’s invariance principle confirms that all closed-loop signals are asymptotically stable. Numerical simulations verify the effectiveness of the proposed method under complex roll disturbances, non-zero initial sway angles, and multiple obstacles.
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