Time-fuel synthetic optimal control of ship-borne special crane based on predictive average dynamic

Ship-borne special crane, a multi-joints and foldaway one, is important to study the most effective energy-saving (i. e. synthetic time-fuel optimal) operation control mode. In this paper, by introducing weighted parameters, a time-fuel synthetic optimal criterion is obtained, and configuration of the optimal controller is verified. Furthermore, a predictive average dynamic method is put forward, and applied to treat nonlinearity and coupling of the crane. Finally, an optimal controller with feedback is designed. The validity of this approach is verified by simulation results.