Modeling and Control of Marine Flexible Systems

Abstract

Modeling and control of marine flexible systems under the time-varying ocean disturbances is a challenging task and have received increasing attention in recent years with growing offshore engineering demands involving varied applications. There is a need to develop a general control framework to achieve the performance for the concerned systems. The main purpose of the research is to develop advance strategies for the control of marine flexible systems with guaranteed stability. By investigating the characteristics of these flexible models, boundary control combining with the robust adaptive approaches are presented for three classes of marine flexible systems, i.e., mooring systems, installation systems, and riser systems.

Firstly, modeling and control of a thruster assisted position mooring system is investigated. Furthermore, 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. Thirdly, a coupled nonlinear flexible marine riser is investigated. Finally, boundary control of a flexible marine riser with the vessel dynamics is studied. Numerical simulations are extensively carried out to illustrate the effectiveness of the proposed control.