Marine crane is a special kind of crane for carrying out transportation operations in the Marine environment. It is mainly used for the transportation and transfer of cargo between ships, replenishment at sea, dropping and recovery of underwater equipment and other important tasks. The special application environment at sea brings great challenge to the control of Marine crane. On the one hand, similar to a variety of underactuated crane equipment on land, it is necessary to control the swing generated in the load transportation process to ensure its positioning accuracy and transportation efficiency; On the other hand, because the crane is fixed on the moving platform such as the ship, the movement of the platform itself has a strong impact on the movement of the load, and in many cases, the movement at the lifting and landing point of the load is inconsistent with the movement of the crane itself. Specifically, during the working process, the crane ship and the receiving ship will…

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