Integral BLF-Based Adaptive Dynamic Event-Triggered Boundary Control for a Flexible Riser System
针对偏微分方程建模的柔性立管系统，提出一种动态事件触发的自适应边界控制方法，通过积分障碍李雅普诺夫函数处理边界位置约束，并补偿外部扰动，以节省计算成本并抑制振动。
For the flexible riser systems modeled with partial differential equations (PDEs), this article explores the boundary control problem in depth for the first time using a dynamic event-triggered mechanism (DETM). Given the intrinsic time-space coupling characteristic inherent in PDE computations, implementing a state-dependent DETM for PDE-based flexible risers presents a significant challenge. To overcome this difficulty, a novel dynamic event-triggered control method is introduced for flexible riser systems, focusing on optimizing available control inputs. In order to save computational costs from the controller to the actuator, a dynamic event-triggered adaptive boundary controller is designed to effectively reduce boundary position vibrations. Additionally, considering external disturbances, an adaptive bounded compensation term is incorporated to counteract the influence of external disturbances on the system. Addressing boundary position constraints, a new integral barrier Lyapunov function (iBLF) tailored specifically for flexible riser systems is introduced, thereby alleviating conservatism in the controller design of flexible risers modeled by PDEs. At last, the validity of the proposed method is demonstrated through a simulation example.