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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...
This paper investigates the control problem of a marine riser installation system. The riser installation system consisting of a vessel, a flexible riser, a subsea payload is modeled as a distributed parameter system with one partial differential equation (PDE) and four ordinary differential equations (ODEs). Based on the Lyapunov's direct method, robust adaptive boundary control is proposed at the...
In this paper, we investigate the leader-follower formation control of underactuated autonomous underwater vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov...
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