文档介绍：1080 IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 18, NO. 5, SEPTEMBER 2010
Boundary Control of a Coupled Nonlinear
Flexible Marine Riser
Shuzhi Sam Ge, Fellow, IEEE, Wei He, Student Member, IEEE, Bernard Voon Ee How, Student Member, IEEE,
and Yoo Sang Choo
Abstract—In this paper, boundary control for a coupled non-
linear flexible marine riser with two actuators in transverse and
longitudinal directions is developed to reduce the riser’s vibra-
tions. The dynamic behavior of the flexible riser is represented by
a distributed parameter system with partial differential equations
(PDEs) and the control is applied at the top boundary of the riser
based on Lyapunov’s direct method to regulate the riser’s vibra-
tions. With the proposed boundary control, uniform boundedness
under ocean current disturbance, and exponential stability under
free vibration condition can be achieved. The proposed control is
independent of system parameters, which ensures the robustness
of the system to variations in parameters. Numerical simulations
for demonstrating the effectiveness of the proposed control are
presented.
Index Terms—Boundary control, distributed parameter system,
exponential stability, Lyapunov’s direct method, partial differen-
tial equations (PDEs), uniform boundedness.
I. INTRODUCTION Fig. 1. Typical marine riser system.
IBRATION problems of slender bodies in ocean engi- protection and transportation of the drilling mud, while a pro-
V neering such as oil drilling and gas exploration have re- duction riser is a pipe used for oil transportation. The stiffness
ceived increasing attention. Improving reliability and efficiency of a flexible marine riser depends on its tension and length, thus
of operations during oil and gas production in the ocean envi- a riser that spans a long distance can produce large vibrations
ronment is a challenging task in offshore engineering. With the under relatively small disturbances. In marine environme