Active Control of a Flexible Riser System with Input Saturation via Backstepping Technique

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.