LAUSR

In this study, the vibration control and boundary output constraint problem of a marine riser system subjected to the disturbances are investigated. The control objective is to ensure the vibration reduction of the marine riser and the boundary output in the constrained region. A boundary control strategy is put forward to realise this objective through combining with Lyapunov's direct method, barrier-based control and backstepping technique. In addition, the disturbance observer including barrier term is developed to cope with the effects of unknown external disturbance. With the designed control strategy, the closed-loop riser system is ensured to be uniformly bounded stable through rigorous Lyapunov analysis without violation of the output constraint. Finally, the effectiveness of the designed boundary control strategy is verified via numerical simulations.