Active Control of a Flexible Riser System with Input Saturation via Backstepping Technique
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- 英文论文题名：Active Control of a Flexible Riser System with Input Saturation via Backstepping Technique
- 论文作者：Yu Liu ; Zhuolin Liu ; Fang Guo
- 英文论文作者：Yu Liu ; Zhuolin Liu ; Fang Guo ; School of Automation Science and Engineering ; South China University of Technology ; Department of Electrical and Computer Engineering ; University of Nebraska-Lincoln
- 年：2017
- 作者机构：School of Automation Science and Engineering,South China University of Technology;Department of Electrical and Computer Engineering,University of Nebraska-Lincoln;
- 英文论文关键词：Marine riser ; Signum function ; Backstepping technique ; Boundary control ; Input saturation
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：P756.2;TE973
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：920k
- 原文格式：D
- 会议级别：全国
摘要
This paper makes a research about the vibration damping of a flexible riser system. The partial-ordinary differential equations can be used to describe the riser system. Through the fusion of the boundary control and backstepping technique, a control strategy is proposed for suppressing riser's vibration and globally stabilizing the riser system at its equilibrium position,an auxiliary system is formulated aimed at compensating for nonlinear input saturation characteristic, and a signum function is introduced for mitigating the effects of unknown boundary disturbance. Besides, the system uniformly bounded stability is achieved without any discretisation of the system dynamics. Lastly, the validity of the formulated control strategy is proved via simulation results.
This paper makes a research about the vibration damping of a flexible riser system. The partial-ordinary differential equations can be used to describe the riser system. Through the fusion of the boundary control and backstepping technique, a control strategy is proposed for suppressing riser's vibration and globally stabilizing the riser system at its equilibrium position,an auxiliary system is formulated aimed at compensating for nonlinear input saturation characteristic, and a signum function is introduced for mitigating the effects of unknown boundary disturbance. Besides, the system uniformly bounded stability is achieved without any discretisation of the system dynamics. Lastly, the validity of the formulated control strategy is proved via simulation results.
This paper makes a research about the vibration damping of a flexible riser system. The partial-ordinary differential equations can be used to describe the riser system. Through the fusion of the boundary control and backstepping technique, a control strategy is proposed for suppressing riser's vibration and globally stabilizing the riser system at its equilibrium position,an auxiliary system is formulated aimed at compensating for nonlinear input saturation characteristic, and a signum function is introduced for mitigating the effects of unknown boundary disturbance. Besides, the system uniformly bounded stability is achieved without any discretisation of the system dynamics. Lastly, the validity of the formulated control strategy is proved via simulation results.
引文
[1]S.Kaewunruen,J.Chiravatchradj,and S.Chucheepsakul,Nonlinear free vibrations of marine risers/pipes transport fluid,Ocean Eengineering,32(3–4):417–440,2005.
[2]K.D.Do,J.Pan,Boundary control of three-dimensional inextensible marine risers,Journal of Sound and Vibration,327(3–5):299–321,2009.
[3]F.Guo,Y.Liu,Z.J.Zhao,and et al,Adaptive vibration control of a flexible marine riser via backstepping technique and disturbance adaptation,Transactions of the Institute of Measurement and Control,in press,2016,DOI:10.1177/0142331216684010.
[4]K.D.Do,J.Pan,Boundary control of transverse motion of marine risers with actuator dynamics,Journal of Sound and Vibration,318(4–5):768–791,2008.
[5]W.He,S.S.Ge,B.V.How,and et al,Robust adaptive boundary control of a flexible marine riser with vessel dynamics,Automatica,47(4):722–732,2011.
[6]J.Logan,Applied mathematics.New York:Wiley,2006.
[7]M.J.Balas,Active control of flexible systems,Journal of Optimization Theory and Applications,25(3):415–436,1978.
[8]Y.Sakawa,F.Matsuno,and S.Fukushima,Modeling and feedback control of a flexible arm,Journal of Robotic Systems,2(4):453–472,1985.
[9]Y.Liu,Z.J.Zhao,and F.Guo,Adaptive Lyapunov-based backstepping control for an axially moving system with input saturation,IET Control Theory&Applications,10(16):2083–2092,2016.
[10]Y.Liu,Z.J.Zhao,F.Guo,and et al,Vibration control of an axially moving accelerated/decelerated belt system with input saturation,Transactions of the Institute of Measurement and Control,in press,2016,DOI:10.1177/0142331216665685.
[11]Z.J.Zhao,Y.Liu,W.He,and et al,Adaptive boundary control of an axially moving belt system with high acceleration/deceleration,IET Control Theory and Applications,10(11):1299–1306,2016.
[12]J.Zhou,C.Y.Wen,Adaptive backstepping control of uncertain systems:nonsmooth nonlinearities,interactions or timevariations.Germany:Springer,2008.
[13]Z.G.Feng,J.Lam,and Z.Shu,Dissipative control for linear systems by static output feedback,International Journal of Systems Science,44(8):1566–1576,2013.
[14]Y.Liu,Z.J.Zhao,and W.He,Stabilization of an axially moving accelerated/decelerated system via an adaptive boundary control,ISA Transactions,64(2016):394–404,2016.
[15]M.Krstic,A.Smyshlyaev,Backstepping boundary control for first-order hyperbolic PDEs and application to systems with actuator and sensor delays,System&Control Letters,57(9):750–758,2008.
[16]Y.Liu,Z.J.Zhao,and W.He,Boundary control of an axially moving accelerated/decelerated belt system,International Journal of Robust and Nonlinear Control,26(17):3849–3866,2016.
[17]M.Krstic,A.Smyshlyaev,Boundary Control of PDEs:A Course on Backstepping Designs.Philadelphia,PA:SIAM,2008.
[18]C.D.Rahn,Mechatronic control of distributed noise and vibration.New York:Springer-Verlag,2001.
[19]M.Chen,S.S.Ge,and B.Ren,Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints,Automatica,47(3):452C-465,2011.
[20]Z.J.Zhao,Y.Liu,F.Guo,and et al,Modelling and control for a class of axially moving nonuniform system,International Journal of Systems Science,48(4):849–861,2016.
[21]Y.Liu,F.Guo,and Z.J.Zhao,Boundary barrier-based control of a flexible riser system,IET Control Theory and Applications,11(7):923–930,2017.
[2]K.D.Do,J.Pan,Boundary control of three-dimensional inextensible marine risers,Journal of Sound and Vibration,327(3–5):299–321,2009.
[3]F.Guo,Y.Liu,Z.J.Zhao,and et al,Adaptive vibration control of a flexible marine riser via backstepping technique and disturbance adaptation,Transactions of the Institute of Measurement and Control,in press,2016,DOI:10.1177/0142331216684010.
[4]K.D.Do,J.Pan,Boundary control of transverse motion of marine risers with actuator dynamics,Journal of Sound and Vibration,318(4–5):768–791,2008.
[5]W.He,S.S.Ge,B.V.How,and et al,Robust adaptive boundary control of a flexible marine riser with vessel dynamics,Automatica,47(4):722–732,2011.
[6]J.Logan,Applied mathematics.New York:Wiley,2006.
[7]M.J.Balas,Active control of flexible systems,Journal of Optimization Theory and Applications,25(3):415–436,1978.
[8]Y.Sakawa,F.Matsuno,and S.Fukushima,Modeling and feedback control of a flexible arm,Journal of Robotic Systems,2(4):453–472,1985.
[9]Y.Liu,Z.J.Zhao,and F.Guo,Adaptive Lyapunov-based backstepping control for an axially moving system with input saturation,IET Control Theory&Applications,10(16):2083–2092,2016.
[10]Y.Liu,Z.J.Zhao,F.Guo,and et al,Vibration control of an axially moving accelerated/decelerated belt system with input saturation,Transactions of the Institute of Measurement and Control,in press,2016,DOI:10.1177/0142331216665685.
[11]Z.J.Zhao,Y.Liu,W.He,and et al,Adaptive boundary control of an axially moving belt system with high acceleration/deceleration,IET Control Theory and Applications,10(11):1299–1306,2016.
[12]J.Zhou,C.Y.Wen,Adaptive backstepping control of uncertain systems:nonsmooth nonlinearities,interactions or timevariations.Germany:Springer,2008.
[13]Z.G.Feng,J.Lam,and Z.Shu,Dissipative control for linear systems by static output feedback,International Journal of Systems Science,44(8):1566–1576,2013.
[14]Y.Liu,Z.J.Zhao,and W.He,Stabilization of an axially moving accelerated/decelerated system via an adaptive boundary control,ISA Transactions,64(2016):394–404,2016.
[15]M.Krstic,A.Smyshlyaev,Backstepping boundary control for first-order hyperbolic PDEs and application to systems with actuator and sensor delays,System&Control Letters,57(9):750–758,2008.
[16]Y.Liu,Z.J.Zhao,and W.He,Boundary control of an axially moving accelerated/decelerated belt system,International Journal of Robust and Nonlinear Control,26(17):3849–3866,2016.
[17]M.Krstic,A.Smyshlyaev,Boundary Control of PDEs:A Course on Backstepping Designs.Philadelphia,PA:SIAM,2008.
[18]C.D.Rahn,Mechatronic control of distributed noise and vibration.New York:Springer-Verlag,2001.
[19]M.Chen,S.S.Ge,and B.Ren,Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints,Automatica,47(3):452C-465,2011.
[20]Z.J.Zhao,Y.Liu,F.Guo,and et al,Modelling and control for a class of axially moving nonuniform system,International Journal of Systems Science,48(4):849–861,2016.
[21]Y.Liu,F.Guo,and Z.J.Zhao,Boundary barrier-based control of a flexible riser system,IET Control Theory and Applications,11(7):923–930,2017.