Boundary controller design for flexible riser systems with input quantization and position constraint

In this paper, the boundary control problem for a class of flexible riser control systems with input quantization and boundary position constraints is studied. Since quantization errors can adversely affect the performance of the control system, input quantization is an unavoidable issue for maintaining the high accuracy of the system. Partial differential equations are utilized to model the dynamics of the flexible riser system. Based on the partial differential equation model, a new auxiliary term is introduced to compensate for the effects of quantization, and a boundary controller is constructed using the barrier Lyapunov function, which guarantees the stability of the considered system. Moreover, the boundary position of the system satisfies its constraints. Furthermore, the simulation results verify the effectiveness of the proposed control method. (c) 2024 Published by Elsevier Ltd.