Abstract
In Chap. 5, robust adaptive boundary control of a marine installation system is developed to position the subsea payload to the desired set-point and suppress the cable’s vibration. The flexible cable coupled with vessel and payload dynamics is described by a distributed-parameter system with one partial differential equation (PDE) and two ordinary differential equations (ODEs). Boundary control is proposed at the top and bottom boundaries of the cable based on the Lyapunov direct method. Considering the system parametric uncertainties and the unknown ocean disturbances, the developed adaptive boundary control schemes achieve uniform boundedness of the steady-state error between the boundary payload and the desired position. The control performance of the closed-loop system is guaranteed by suitably choosing the design parameters.
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