Adaptive stabilisation of a flexible riser by using the Lyapunov-based barrier backstepping technique

作者：Guo, Fang; Liu, Yu^*; Luo, Fei

来源：IET Control Theory and Applications, 2017, 11(14): 2252-2260.

DOI：10.1049/iet-cta.2017.0076

• adaptive control
• stability
• Lyapunov methods
• control nonlinearities
• vibration control
• marine systems
• uncertain systems
• vibration isolation
• constraint satisfaction problems
• closed loop systems
• adaptive stabilisation
• Lyapunov-based barrier backstepping technique
• constraint problems
• input output constrained flexible marine riser system
• system parametric uncertainties
• integral-barrier Lyapunov function
• IBLF
• backstepping technique
• adaptive technique
• Lyapunov-based barrier control

The focuses of this study are the vibration control and constraint problems of an input and output constrained flexible marine riser system, in which system parametric uncertainties are taken into account. Through the combination of integral-barrier Lyapunov IBLF), backstepping technique and adaptive technique, an adaptive Lyapunov-based barrier control with an auxiliary system is developed aiming at achieving the control purposes of vibration suppression and constraint satisfaction, where the auxiliary system is to compensate for the input saturation, IBLF is to solve the output constraint and adaptive laws are to handle the parametric uncertainties. In addition, disturbance observer is designed in the barrier term of IBLF, which could attenuate the effects of unknown boundary disturbance. With the proposed control, the uniform boundedness and stability of the closed-loop system are easily achieved. Finally, the significance of the proposed control is demonstrated via numerical simulation.

• 出版日期2017-9-14
• 单位华南理工大学