Boundary Control of a Flexible Marine Riser Subject to Nonsmooth Actuator Backlash-Saturation Constraints
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摘要: 研究了针对执行器非光滑反向间隙-饱和约束特性的深海柔性立管系统振动控制和全局稳定问题.为了实现控制效果和品质，引入辅助系统和函数设计边界控制策略，以抑制立管系统振动并消除混合的反向间隙-饱和输入非线性影响.采用严格的分析且无需求助于模型降阶，所研发的控制器确保闭环系统在Lyapunov意义下的一致有界稳定性.通过选取恰当的设计参数，仿真结果验证了所设计控制器的控制性能.能.Abstract: This paper investigates the vibration control and global stabilization of a flexible riser system with non-smooth actuator input backlash-saturation constraints. The auxiliary system and the auxiliary function are introduced to develop a boundary control to suppress the vibration and eliminate the input nonlinearities effects for the riser system, further to improve the control performance. The uniformly bounded stability of the controlled riser system is ensured through a rigorous Lyapunov analysis without any model reduction. By choosing the proper control parameters, the obtained simulation results verify the control performance of the derived control.
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Key words:
- Flexible risers /
- vibration control /
- boundary control /
- input backlash /
- input saturation
1) 本文责任编委 姚鹏飞 -
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