Control design of a crane for offshore lifting operations

M.P. Spathopoulos, D. Fragopoulos

Research output: Chapter in Book/Report/Conference proceedingChapter


This paper presents a control system that reduces pendulation of suspended loads in offshore lifting operations. We develop a model of the ship crane together with a designed anti-pendulation arm. We derive two different types of models for the system and we apply non-linear and linear control design techniques. The non-linear design involves Liapunov analysis and the linear involves LQG and generalized predictive control. The advantage for the linear control is that the use of the vessel dynamics and the sea wave disturbances in the control design improves considerably the behavior of the controlled system.
Original languageEnglish
Title of host publicationNonlinear control in the year 2000, vol 2
Number of pages17
ISBN (Print)1-85233-364-2
Publication statusPublished - 2001

Publication series

NameLecture Notes in Control and Information Sciences


  • offshore lifting
  • crane
  • ships
  • linear control design
  • control systems


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