期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 51, 期 8, 页码 4706-4715出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2944999
关键词
Vibrations; Uncertainty; Nonlinear systems; Adaptive control; Control design; Stability analysis; Adaptive inverse control; boundary control; flexible risers; input backlash; vibration control
资金
- National Natural Science Foundation of China [61803109, 11832009]
- Innovative School Project of Education Department of Guangdong [2017KQNCX153, 2018KQNCX192, 2017KZDXM060]
- Science and Technology Planning Project of Guangzhou City [201904010494, 201904010475]
- Open Research Project of the State Key Laboratory of Industrial Control Technology [ICT1900303]
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.
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.
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