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

fYear

2008

fDate

17-20 Dec. 2008

Firstpage

307

Lastpage

312

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICARCV.2008.4795537

Filename

4795537