Decoupling and Tracking Control for Offshore Crane System Effect by Unknown Roll/Heave Wave Motions Disturbances
Bibliographic record
Abstract
This paper introduces an output feedback control method for an offshore crane system (OCS) with unknown wave disturbance caused by roll-heave motions. The method combines a backstepping controller and a high-gain observer to achieve the desired tracking trajectories of the cart position and the rope length. The dynamic model of the offshore crane system is initially formulated to account for unknown dynamic friction, dynamic coupling, and external disturbances while ensuring dynamic decoupling of the cart position and hoisting dynamics. The backstepping controller is proposed to stabilize the system and achieve trajectory tracking, where the extended high gain observer is used to estimate the dynamic states and external disturbances. The effectiveness of the proposed control approach is verified through simulations for both the system with disturbances generated by roll-heave motions. The simulation results demonstrate that the proposed approach is capable of achieving the desired trajectories, even under conditions of unknown nonlinearities and wave motion disturbances.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".