Top Tension Control of a Flexible Marine Riser by Using Integral-Barrier Lyapunov Function

作     者：He, Wei Sun, Chen Ge, Shuzhi Sam 

作者机构：Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Sch Automat Engn Chengdu 611731 Peoples R China Univ Elect Sci & Technol China Inst Robot Chengdu 611731 Peoples R China Univ Toronto Edward S Rogers Sr Dept Elect & Comp Engn Toronto ON M5S 3G4 Canada Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore Univ Elect Sci & Technol China Sch Comp Sci & Engn Inst Robot Chengdu 611813 Peoples R China 

出 版 物：《IEEE-ASME TRANSACTIONS ON MECHATRONICS》 (IEEE ASME Trans Mechatron)

年 卷 期：2015年第20卷第2期

页      面：497-505页

核心收录：

学科分类：0808[工学-电气工程] 08[工学] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：National Natural Science Foundation of China Fundamental Research Funds for the China Central Universities of UESTC [ZYGX2012J087, ZYGX2013Z003] National Basic Research Program of China (973 Program) [2014CB744206] Foundation of Key Laboratory of Autonomous Systems and Networked Control, Ministry of Education, China [2013A03] 

主　　题：Boundary control distributed parameter system flexible riser flexible structures vibration control 

摘      要：This paper presents a boundary controller for a flexible marine riser to suppress the riser s vibration with a top tension constraint. The flexible marine riser is described by a distributed parameter system with a partial differential equation and four ordinary differential equations. The boundary controller is designed at the top boundary of the riser based on an integral-barrier Lyapunov function to suppress the riser s tension at top. Adaptive control is designed when the system parametric uncertainty exists. With the proposed robust adaptive boundary control, uniformed boundedness under the ocean disturbance can be achieved. Stability analysis of the closed-loop system is given using the Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed boundary controller with top tension constraint.