Boundary control based on an infinite dimensional system of a marine riser with constraint

摘要

In this paper, the constrained problem of the joint angles for a flexible marine riser is investigated. The riser system is described by partial differential equations (PDEs) - ordinary differential equations (ODEs), which avoid the spillover effect. Boundary control based on the integral-barrier Lyapunov function (IBLF) is achieved by three actuators equipped at the top boundary of the riser. Under the time-varying disturbances, the designed control can suppress vibration of the riser and ensure joint angles in the constrained range. The stability is proved under the designed control laws. Numerical simulations are given to illustrate the effectiveness of the designed control laws.