LAUSR

This paper studies the vibration suppression problem of nonlinear flexible riser systems subjected to external disturbances. For suppressing the vibration and improving the control precision, a novel joint control method which includes boundary control and iterative learning control (ILC) is raised, via finite-dimensional backstepping control and Lyapunov’s direct method. Iteration term is first designed in discrete domain and then transformed into continuous time domain. Under the action of the proposed boundary-ILC, the uniform boundedness of closed-loop system state and the convergence of the system output are proved by using Lyapunov synthesis. Finally, simulation results are provided to illustrate the effectiveness of the formulated control approach.