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دانلود رایکان مقاله انگلیسی ISI با موضوع کنترل مرزی تطبیقی تاسیسات دریایی انعطاف پذیر

عنوان فارسی مقاله:

کنترل مرزی تطبیقی تاسیسات دریایی انعطاف پذیر

عنوان انگلیسی مقاله:

Adaptive boundary control of a flexible marine installation system

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بخشی از مقاله انگلیسی :

2. Problem formulation and preliminaries

For the marine installation system shown in Fig. 1, frame X–Y is the fixed inertia frame, and frame x–y is the local reference frame fixed along the vertical direction of the surface vessel. The top boundary of the cable is at the vessel and the bottom boundary of the cable is at the underwater payload. Forces from thrusters on the vessel and payload are the control inputs of the system, and the boundary position and slope of the cable are used as the feedback signals in the control design. pd is the desired target position, p(t)is the position of the vessel, w(x, t)is the elastic transverse reflection with respect to frame x–y at the position x for time t, and y(x, t) := p(t) + w(x, t) is the position of the cable with respect to frame X–Y at the position x for time t. Note that w(L, t) = 0 is due to the connection between the vessel and the top boundary of the cable. In this paper, we consider the transverse degree of freedom only. We assume that the original position of the vessel is directly above the subsea payload with no horizontal offset, and that the payload is filled with seawater.