The present invention discloses a sliding mode predictive control method for heave motion based on
support vector machine time-
delay compensation, which belongs to the field of compensation control technology. The specific technical scheme is: using support vector regression to predict the heave motion of the
hull, setting a set of
hull motion data, constructing a
linear regression function, setting a linear insensitive
loss function, introducing two slack variables, transforming the
optimization problem, and establishing constraints, introducing Lagrangian function, solving parameters, simplifying the regression function, introducing the concept of kernel function, and obtaining the final
load displacement of the deep-sea crane heave compensation
system. The present invention discloses an extremely short-term prediction
method of support vector
machine, and combines it with a sliding mode predictive control method based on SSA-Elman neural network, which can realize accurate prediction of the
hull heave displacement of the deep-sea crane. After adding the
support vector machine prediction model, the controller can effectively solve the
control error caused by the time
delay problem.