Tube-based Model Predictive Control of Shipboard Boom Cranes with Ship Roll

In this paper, a tube-based model predictive control (MPC) scheme is proposed for 3-DOF boom cranes mounted on ships, while considering additive disturbances and ship rolling incurred by waves. The ship rolling angle becomes part of new state variable by utilizing coordination transformation, which can simplify the successive procedure for designing controller. By fully exploiting the inherent virtues of tube-based MPC, all state constraints and input saturation can also be well satisfied for all possible bounded additive disturbance sequences. Moreover, simulations are elaborately designed to demonstrate the effectiveness of the proposed controllers in coping with disturbances, satisfied performances are obtained.