Boundary control of coupled nonlinear three dimensional marine risers
- 235 Downloads
This paper presents a design of boundary controllers implemented at the top end for global stabilization of a marine riser in a three dimensional space under environmental loadings. Based on the energy approach, nonlinear partial differential equations of motion, including bending-bending and longitudinal-bending couplings for the risers are derived. The couplings cause mutual effects between the three independent directions in the riser’s motions, and make it difficult to minimize its vibrations. The Lyapunov direct method is employed to design the boundary controller. It is shown that the proposed boundary controllers can effectively reduce the riser’s vibration. Stability analysis of the closed-loop system is performed using the Lyapunov direct method. Numerical simulations illustrate the results.
Keywordsmarine risers boundary control nonlinear dynamics equations of motion nonlinear couplings
Unable to display preview. Download preview PDF.
- Cavallo A, De Maria G (1999). Robust active control of flexible systems with second order sliding. Proc. of the 1999 IEEE/ASME Conference on Advanced Intelligent Mechatronics, Atlanta, USA, 162–166.Google Scholar
- Kim D, Jung IH (2011). Some boundary feedback control of a nonlinear string equation of kirchhoff-carrier type. 11th International Conference on Control, Automation and Systems, Gyeonggi-do, Korea, 254–257.Google Scholar
- Krstic M, Siranosian AA, Smyshlyaev A (2006a). Backstepping boundary controllers and observers for the slender timoshenko beam: Part I—design. American Control Conference, Minneapolis, USA, 2412–2417.Google Scholar
- Krstic M, Siranosian AA, Smyshlyaev A (2007). Control of string and flexible beams by backstepping boundary control. American Control Conference, New York, USA, 2007, 882–887.Google Scholar
- Krstic M, Siranosian AA, Smyshlyaev A, Bement M (2006b). Backstepping boundary controllers and observers for the slender timoshenko beam: Part II—stability and simulations. Conference on Decision and Control, San Diego, USA, 3938-3943.Google Scholar