Marine Installation System

  • Wei He
  • Shuzhi Sam Ge
  • Bernard Voon Ee How
  • Yoo Sang Choo
Part of the Advances in Industrial Control book series (AIC)


In Chap. 5, robust adaptive boundary control of a marine installation system is developed to position the subsea payload to the desired set-point and suppress the cable’s vibration. The flexible cable coupled with vessel and payload dynamics is described by a distributed-parameter system with one partial differential equation (PDE) and two ordinary differential equations (ODEs). Boundary control is proposed at the top and bottom boundaries of the cable based on the Lyapunov direct method. Considering the system parametric uncertainties and the unknown ocean disturbances, the developed adaptive boundary control schemes achieve uniform boundedness of the steady-state error between the boundary payload and the desired position. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.


System Installation Robust Adaptive Boundary Control System Parameter Uncertainties Ocean Disturbances Dynamic Payload 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  • Wei He
    • 1
  • Shuzhi Sam Ge
    • 2
  • Bernard Voon Ee How
    • 3
  • Yoo Sang Choo
    • 4
  1. 1.School of Automation EngineeringUniversity of Electronic Science and Technology of China (UESTC)ChengduChina
  2. 2.Dept of Electr. & Computer EngineeringThe National University of SingaporeSingaporeSingapore
  3. 3.Centre for Offshore Research & Engin.National University of SingaporeSingaporeSingapore
  4. 4.Dept of Civil & Environmental Engin.National University of SingaporeSingaporeSingapore

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