Adaptive Inverse Control of a Vibrating Coupled Vessel-Riser System With Input Backlash

This article involves the adaptive inverse control of a coupled vessel-riser system with input backlash and system uncertainties. By introducing an adaptive inverse dynamics of backlash, the backlash control input is divided into a mismatch error and an expected control command, and then a novel adaptive inverse control strategy is established to eliminate vibration, tackle backlash, and compensate for system uncertainties. The bounded stability of the controlled system is analyzed and demonstrated by exploiting the Lyapunov's criterion. The simulation comparison experiments are finally presented to verify the feasibility and effectiveness of the control algorithm.

Automated summary

This article presents an adaptive inverse control strategy for a coupled vessel-riser system with input backlash and system uncertainties. By utilizing adaptive inverse dynamics of backlash, the control algorithm aims to eliminate vibration, handle backlash, and compensate for system uncertainties. The bounded stability of the controlled system is demonstrated through analysis using Lyapunov's criterion, and simulation experiments validate the feasibility and effectiveness of the control strategy.