Modeling and Control Design for a Multi-cable Mooring System

摘要：

In this paper, modeling and control are investigated for a multi-cable mooring system. The mathematical model of the system is described as partial differential equations (PDEs) via the Hamilton’s principle. Control is designed at the top boundary of the mooring lines based on the Lyapunov’s direct method to suppress the vessel’s vibrations. Adaptive control is developed to handle the system parametric uncertainties. With the proposed boundary control, uniform boundedness of the system is achieved. Simulations are carried out to verify the effectiveness of the proposed control.

关键词： Boundary Control Distributed Parameter System Adaptive Control Flexible system

作者: Wei He Shuzhi Sam Ge Shuang Zhang

作者单位: School of Automation, University of Electronic Science and Technology of China, Chengdu 611731, Chin Robotics Institute, School of Computer Science and Engineering, University of Electronic Science and Department of Electrical and Computer Engineering, National University of Singapore, Singapore 11757

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 1285-1290

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）