Active disturbance rejection adaptive fuzzy backstepping control of uncertain flexible marine riser system

Abstract

In this paper, vibration control of a flexible marine riser with uncertain parameters subjected to distributed disturbance and boundary disturbance is studied. The existing vibration control algorithms have the problems of relying on the accurate mathematical model of the system, complex control laws, and need to measure multiple states of the system, which cannot effectively deal with the uncertainty of model parameters and external disturbances. To effectively suppress the vibration of a marine flexible riser system with uncertain parameters, an adaptive fuzzy backstepping control algorithm was designed. First, the backstepping method and Lyapunov function are used to analyze the subsystem and design the virtual control law. On this basis, an adaptive fuzzy system was designed. The fuzzy system was used to approach the unknown nonlinear term in the design process of the control law and the uniform boundedness of the system was proved by the Lyapunov stability theory. The designed control algorithm has a simple structure, and it can effectively restrain the riser vibration and improve the control rate. Finally, the numerical simulation results show that the designed control algorithm is effective in suppressing the vibration of flexible risers and the control effect is better than previous PID control and robust adaptive control.