Title :
Reducing transverse motion of marine risers with actuator dynamics by boundary control
Author :
Do, K.D. ; Pan, J.
Author_Institution :
Sch. of Mech. Eng., Univ. of Western Australia, Crawley, WA
Abstract :
This paper presents a boundary controller to reduce transverse motion of flexible marine risers driven by a hydraulic system at the top end of the risers under environmental disturbances. The boundary controller is designed based on Lyapunov´s direct method and the backstepping technique. Proof of existence and uniqueness of the solutions of the closed loop control system is carried out by using the Galerkin approximation method.
Keywords :
Galerkin method; Lyapunov methods; actuators; control system synthesis; hydraulic systems; marine systems; Galerkin approximation method; Lyapunov´s direct method; actuator dynamics; backstepping technique; boundary control; closed loop control system; hydraulic system; marine risers; transverse motion reduction; Actuators; Australia; Automatic control; Control systems; Distributed control; Hydraulic systems; Mechanical engineering; Motion control; Oceans; Robotics and automation; Marine risers; boundary control; equations of motion; nonlinear dynamics;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795537
