Abstract
Abstract In this paper, a boundary control with barrier term is proposed for a typical three-dimensional flexible riser system by integrating backstepping technique with barrier Lyapunov functions. The proposed boundary control does not depend on the exact value of interference and can effectively restrain the vibration of the riser and constrain the angle between the riser and the platform. The proposed control has a small amount of calculation and strong robustness, and can effectively restrain the riser vibration when the environmental disturbance changes. In addition, based on the proposed boundary control method, the stability of the closed-loop system in space and time is proved by Lyapunov stability theorem when the initial conditions are satisfied. Numerical simulation shows the effectiveness and superiority of the controller.
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