Please use this identifier to cite or link to this item: https://doi.org/10.1109/TCST.2010.2041931
Title: Control of coupled vessel, crane, cable, and payload dynamics for subsea installation operations
Authors: How, B.V.E. 
Ge, S.S. 
Choo, Y.S. 
Keywords: Boundary control
cable
constraints
distributed parameter model
marine
partial differential equations (PDEs)
Issue Date: Jan-2011
Citation: How, B.V.E., Ge, S.S., Choo, Y.S. (2011-01). Control of coupled vessel, crane, cable, and payload dynamics for subsea installation operations. IEEE Transactions on Control Systems Technology 19 (1) : 208-220. ScholarBank@NUS Repository. https://doi.org/10.1109/TCST.2010.2041931
Abstract: In this paper, the coupled dynamics and control of the vessel, crane, flexible cable and payload under environmental disturbances with attached thrusters for subsea installation operations is investigated. For the practical system with physical constraints, we employ Barrier Lyapunov Function in the design of positioning control for the flexible crane-cable-payload subsystem to ensure that the constraints are not violated. Uniform stability of the flexible subsystem is shown and asymptotic positioning of the boundaries is achieved. Next, we tackle the scenario where nonuniformity of the cable, uncertainties and environmental disturbances are considered. Boundary controls are formulated using the nonlinear partial differential equation of the cable. Numerical simulations are provided to illustrate the performance of the proposed controls. © 2006 IEEE.
Source Title: IEEE Transactions on Control Systems Technology
URI: http://scholarbank.nus.edu.sg/handle/10635/50825
ISSN: 10636536
DOI: 10.1109/TCST.2010.2041931
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