Authors

Zongbin Hou, Ruihao Sui, Yuan Chen

Abstract

Cable-driven wave motion compensation devices are essential for safe maritime operations, including offshore supply missions and marine engineering tasks. In suspended cable configurations, the dynamic performance is inherently constrained by payload weight, since gravity not only enables force closure but also limits the available control authority. Moreover, the system is constantly subjected to wave-induced disturbances, which exacerbate platform oscillations and further challenge controller robustness. To tackle these issues, a novel passivity-based control approach is proposed in this paper that integrates fast terminal sliding mode control with adaptive damping modulation. Specifically, a port-Hamiltonian sliding mode control framework is established to ensure finite-time convergence under energy dissipation constraints, while a bimodal damping modulation strategy is introduced to dynamically regulate system damping for balancing convergence rate and vibration suppression. In addition, a cascaded observer is proposed to reconstruct disturbances and mitigate sensor noise. The global stability of the closed-loop system is rigorously established based on Lyapunov analysis. Simulation and experimental results demonstrate that, under comparable force output levels, the proposed controller reduces the Integral of Time-weighted Absolute Error index by 58 % and 55 %, respectively, thereby achieving improved steady-state performance. The robustness of the proposed controller is further confirmed by sea trials.

Keywords

cascaded observer, damping modulation, fast terminal sliding mode, port-hamiltonian system, wave motion compensation

Citation

  • Journal: Information Sciences
  • Year: 2026
  • Volume: 726
  • Issue:
  • Pages: 122742
  • Publisher: Elsevier BV
  • DOI: 10.1016/j.ins.2025.122742

BibTeX

@article{Hou_2026,
  title={{Passivity-based variable damped sliding mode control for cable-driven wave motion compensation device under hybrid disturbances}},
  volume={726},
  ISSN={0020-0255},
  DOI={10.1016/j.ins.2025.122742},
  journal={Information Sciences},
  publisher={Elsevier BV},
  author={Hou, Zongbin and Sui, Ruihao and Chen, Yuan},
  year={2026},
  pages={122742}
}

Download the bib file

References

  • Hu S, Fang C, Wu J, Fan C, Zhang X, Yang X, Han B (2025) Enhanced risk assessment framework for complex maritime traffic systems via data driven: A case study of ship navigation in Arctic. Reliability Engineering & System Safety 260:110991. https://doi.org/10.1016/j.ress.2025.11099 – 10.1016/j.ress.2025.110991
  • Chen N, Huang D, Tu Y, Wei D, Lin X (2025) A novel inertial parameter identification method for the ship-mounted Stewart platform based on a wave compensation platform. Measurement 242:116010. https://doi.org/10.1016/j.measurement.2024.11601 – 10.1016/j.measurement.2024.116010
  • Li H, Liu Y, Liang B, Liu F, Wu G, Du J, Hou H, Li A, Shi L (2022) Demands and challenges for construction of marine infrastructures in China. Front Struct Civ Eng 16(5):551–563. https://doi.org/10.1007/s11709-022-0839- – 10.1007/s11709-022-0839-8
  • Zhou H, Cao J, Yao B, Lian L (2021) Hierarchical NMPC–ISMC of active heave motion compensation system for TMS–ROV recovery. Ocean Engineering 239:109834. https://doi.org/10.1016/j.oceaneng.2021.10983 – 10.1016/j.oceaneng.2021.109834
  • Zhao, Robust antiswing control for offshore boom cranes subject to disturbances on both actuated and unactuated states. IEEE/ASME Trans. Mechatronics (2024)
  • Kimiaghalam, Feedback and feedforward control law for a ship crane with Maryland rigging system. (2000)
  • Viet LD (2015) Crane sway reduction using Coriolis force produced by radial spring and damper. J Mech Sci Technol 29(3):973–979. https://doi.org/10.1007/s12206-015-0211- – 10.1007/s12206-015-0211-1
  • Yang T, Sun N, Chen H, Fang Y (2020) Swing suppression and accurate positioning control for underactuated offshore crane systems suffering from disturbances. IEEE/CAA J Autom Sinica 7(3):892–900. https://doi.org/10.1109/jas.2020.100316 – 10.1109/jas.2020.1003162
  • Zhu B, Zhao T, Tang Z, Ding S, Li E (2023) Hierarchical coupling control of cable-driven multi-loop crane for underactuated positioning. International Journal of Mechanical Sciences 259:108620. https://doi.org/10.1016/j.ijmecsci.2023.10862 – 10.1016/j.ijmecsci.2023.108620
  • Ren Z, Huang Z, Zhao T, Wang S, Sun Y, Chen H, Fang N (2024) Dynamic Modelling and Experimental Analysis of an Offshore Crane Payload Positioning System with a Parallel Cable-Driven Method. Polish Maritime Research 31(2):29–45. https://doi.org/10.2478/pomr-2024-001 – 10.2478/pomr-2024-0019
  • Chen W, Wang S, Li J, Lin C, Yang Y, Ren A, Li W, Zhao X, Zhang W, Guo W, Gao F (2023) An ADRC-based triple-loop control strategy of ship-mounted Stewart platform for six-DOF wave compensation. Mechanism and Machine Theory 184:105289. https://doi.org/10.1016/j.mechmachtheory.2023.10528 – 10.1016/j.mechmachtheory.2023.105289
  • Wen Y, Li W, Zhou S, Gao F, Chen W (2024) Robust sliding mode control with adaptive gravity estimation of ship-borne Stewart platform for wave compensation. Applied Ocean Research 148:104004. https://doi.org/10.1016/j.apor.2024.10400 – 10.1016/j.apor.2024.104004
  • Wang Y, Li Q, Chen Y (2023) Variables increment configuration synthesis method for suspended cable-driven parallel mechanisms. Mechatronics 95:103056. https://doi.org/10.1016/j.mechatronics.2023.10305 – 10.1016/j.mechatronics.2023.103056
  • Sun M, Wang S, Han G, Jin G, Li J, Chen H, Sun Y (2023) Multi-cable anti-swing system for cranes subject to ship excitation and wind disturbance: Dynamic analysis and application in engineering. Ocean Engineering 281:114518. https://doi.org/10.1016/j.oceaneng.2023.11451 – 10.1016/j.oceaneng.2023.114518
  • Li S, Zhou B, Zi B, Zhu W (2025) Adaptive fuzzy tracking control for vibration suppression of a cable-driven parallel hoisting robot. Mechanical Systems and Signal Processing 226:112325. https://doi.org/10.1016/j.ymssp.2025.11232 – 10.1016/j.ymssp.2025.112325
  • Barbazza L, Oscari F, Minto S, Rosati G (2017) Trajectory planning of a suspended cable driven parallel robot with reconfigurable end effector. Robotics and Computer-Integrated Manufacturing 48:1–11. https://doi.org/10.1016/j.rcim.2017.02.00 – 10.1016/j.rcim.2017.02.001
  • An H, Yuan H, Tang K, Xu W, Wang X (2022) A Novel Cable-Driven Parallel Robot With Movable Anchor Points Capable for Obstacle Environments. IEEE/ASME Trans Mechatron 27(6):5472–5483. https://doi.org/10.1109/tmech.2022.318160 – 10.1109/tmech.2022.3181603
  • Wang R, Li S, Li Y (2022) A Suspended Cable-Driven Parallel Robot With Articulated Reconfigurable Moving Platform for Schönflies Motions. IEEE/ASME Trans Mechatron 27(6):5173–5184. https://doi.org/10.1109/tmech.2022.317521 – 10.1109/tmech.2022.3175217
  • Thomas M, Englert T, Sawodny O (2024) Model-based velocity-tracking-control of self-erecting industrial tower cranes. Control Engineering Practice 147:105928. https://doi.org/10.1016/j.conengprac.2024.10592 – 10.1016/j.conengprac.2024.105928
  • Wang S, Jin G, Li J, Ren Z, Chen H, Sun Y (2023) Active damping methods to suppress the payload swing by a 3‐degree of freedom cable‐driven parallel robot. Asian Journal of Control 25(6):4796–4812. https://doi.org/10.1002/asjc.316 – 10.1002/asjc.3165
  • Tang G, Zhang H, Hu Y, Zhou P (2024) FPID-RCP: A Control Method for a Swing-Type Wave Compensation Platform System. JMSE 12(8):1376. https://doi.org/10.3390/jmse1208137 – 10.3390/jmse12081376
  • Li Z, Chen H, Che L (2024) Antiswing control of offshore cranes under ship rolling disturbances: an active disturbance rejection control based approach. Nonlinear Dyn 112(23):21097–21116. https://doi.org/10.1007/s11071-024-10113- – 10.1007/s11071-024-10113-z
  • Lin J, Fang Y, Lu B, Cao H, Hao Y (2024) Constrained model predictive control for 3-D offshore boom cranes. Control Engineering Practice 142:105741. https://doi.org/10.1016/j.conengprac.2023.10574 – 10.1016/j.conengprac.2023.105741
  • Ali K, Ullah S, Mehmood A, Mostafa H, Marey M, Iqbal J (2022) Adaptive FIT-SMC Approach for an Anthropomorphic Manipulator With Robust Exact Differentiator and Neural Network-Based Friction Compensation. IEEE Access 10:3378–3389. https://doi.org/10.1109/access.2021.313904 – 10.1109/access.2021.3139041
  • Kim G-H, Pham P-T, Ngo QH, Nguyen QC (2020) Neural Network-based Robust Anti-sway Control of an Industrial Crane Subjected to Hoisting Dynamics and Uncertain Hydrodynamic Forces. Int J Control Autom Syst 19(5):1953–1961. https://doi.org/10.1007/s12555-020-0333- – 10.1007/s12555-020-0333-9
  • Yang Y, Hui W, Li J (2024) Model-free composite sliding mode adaptive control for 4-DOF tower crane. Automation in Construction 167:105673. https://doi.org/10.1016/j.autcon.2024.10567 – 10.1016/j.autcon.2024.105673
  • Wang Y, Lu X, Gao Y, Chen Y (2025) An anti-swing control method combining deep learning prediction models with a multistate fractional-order terminal sliding mode controller for wave motion compensation devices. Mechanical Systems and Signal Processing 223:111819. https://doi.org/10.1016/j.ymssp.2024.11181 – 10.1016/j.ymssp.2024.111819
  • Chen H, Sun N (2022) An Output Feedback Approach for Regulation of 5-DOF Offshore Cranes With Ship Yaw and Roll Perturbations. IEEE Trans Ind Electron 69(2):1705–1716. https://doi.org/10.1109/tie.2021.305515 – 10.1109/tie.2021.3055159
  • Ouyang H, Shi R, Miao X, Yi H, Xi H (2024) Discrete adaptive sliding mode controller design for overhead cranes considering measurement noise and external disturbances. Intl J Robust & Nonlinear 35(1):188–201. https://doi.org/10.1002/rnc.763 – 10.1002/rnc.7637
  • Cao Y, Li T, Hao L-Y, Gao X (2024) Nonlinear Antiswing Control of Shipboard Boom Cranes Using MPC-Based Auto-Tuning Mechanism With Full State Constraints. IEEE Trans Intell Transport Syst 25(3):2281–2292. https://doi.org/10.1109/tits.2023.331981 – 10.1109/tits.2023.3319815
  • Zeng Y, Maswood AI, Pou J, Zhang X, Li Z, Sun C, Mukherjee S, Gupta AK, Dong J (2023) Active Disturbance Rejection Control Using Artificial Neural Network for Dual-Active-Bridge-Based Energy Storage System. IEEE J Emerg Sel Topics Power Electron 11(1):301–311. https://doi.org/10.1109/jestpe.2021.313834 – 10.1109/jestpe.2021.3138341
  • Lakomy K, Madonski R, Dai B, Yang J, Kicki P, Ansari M, Li S (2022) Active Disturbance Rejection Control Design With Suppression of Sensor Noise Effects in Application to DC–DC Buck Power Converter. IEEE Trans Ind Electron 69(1):816–824. https://doi.org/10.1109/tie.2021.305518 – 10.1109/tie.2021.3055187
  • Zhang Y, Shen W, Long Z, Zhang Y, Wang Z, Zhang Z, Zhu S, Stocchino A, Deng H, Zhu H (2025) Active pendulation control of hoisting systems of ship-mounted cranes under ocean wave excitations: Principle and experimental study. Mechanical Systems and Signal Processing 222:111802. https://doi.org/10.1016/j.ymssp.2024.11180 – 10.1016/j.ymssp.2024.111802
  • Ferguson J, Donaire A, Middleton RH (2019) Kinetic-Potential Energy Shaping for Mechanical Systems With Applications to Tracking. IEEE Control Syst Lett 3(4):960–965. https://doi.org/10.1109/lcsys.2019.291984 – 10.1109/lcsys.2019.2919842
  • Harandi MRJ, Khalilpour SA, Taghirad HD (2023) Adaptive Energy Shaping Control of a 3-DOF Underactuated Cable-Driven Parallel Robot. IEEE Trans Ind Inf 19(6):7552–7560. https://doi.org/10.1109/tii.2022.321198 – 10.1109/tii.2022.3211980
  • Guo Q, Yu H, Yang Q, Gao X, Meng X (2024) Cooperative control of variable damping error port Hamiltonian and backstepping nonsingular terminal sliding mode control for manipulators driven by PMSMs. Intl J Robust & Nonlinear 34(14):9852–9872. https://doi.org/10.1002/rnc.749 – 10.1002/rnc.7496
  • Sakata N, Fujimoto K, Maruta I (2024) Passivity-Based Sliding Mode Control for Mechanical Port-Hamiltonian Systems. IEEE Trans Automat Contr 69(8):5605–5612. https://doi.org/10.1109/tac.2024.337189 – 10.1109/tac.2024.3371898
  • Eliker K, Grouni S, Tadjine M, Zhang W (2020) Practical finite time adaptive robust flight control system for quad-copter UAVs. Aerospace Science and Technology 98:105708. https://doi.org/10.1016/j.ast.2020.10570 – 10.1016/j.ast.2020.105708