Delay-compensated control of sandwiched ODE-PDE-ODE hyperbolic systems for oil drilling and disaster relief
Delay-compensated control of sandwiched ODE-PDE-ODE hyperbolic systems for oil drilling and disaster relief
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DOI：
10.1016/j.automatica.2020.109131
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发表时间：
2019-10
期刊：
影响因子：
--
通讯作者：
Ji Wang;M. Krstić
中科院分区：
文献类型：
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作者：
Ji Wang;M. Krstić
受深水施工船在石油钻井中的海底安装和无人机在救灾中的援助交付的工程应用的启发，我们开发了夹在两个ODE之间的异向耦合双曲pde的输出反馈边界控制，其中测量是一个ODE的输出状态，并且具有时间延迟。将时滞动力学重写为左边界与夹心系统连接的输运PDE后，构建状态观测器，利用最后一个输运PDE的右边界状态估计整个ode -异向耦合双曲pdes - ode -输运PDE系统的状态。一个基于观测器的输出反馈控制器作用于第一个ODE，通过反步变换和频域设计来稳定整个系统。证明了闭环系统的指数稳定性、控制输入的有界性和指数收敛性。将所得到的理论结果应用于某深水石油钻井施工船的控制仿真实例，仿真结果表明，所提出的控制设计减少了电缆的振荡，将石油钻井设备安装在海底目标区域。在极端和未建模的干扰下，性能也会下降。
Motivated by engineering applications of subsea installation by deepwater construction vessels in oil drilling, and of aid delivery by unmanned aerial vehicles in disaster relief, we develop output-feedback boundary control of heterodirectional coupled hyperbolic PDEs sandwiched between two ODEs, where the measurement is the output state of one ODE and suffers a time delay. After rewriting the time-delay dynamics as a transport PDE of which the left boundary connects with the sandwiched system, a state observer is built to estimate the states of the overall system of ODE-heterodirectional coupled hyperbolic PDEs–ODE–transport PDE using the right boundary state of the last transport PDE. An observer-based output-feedback controller acting at the first ODE is designed to stabilize the overall system using backstepping transformations and frequency-domain designs. The exponential stability results of the closed-loop system, boundedness and exponential convergence of the control input are proved. The obtained theoretical result is applied to control of a deepwater oil drilling construction vessel as a simulation case, where the simulation results show the proposed control design reduces cable oscillations and places the oil drilling equipment to be installed in the target area on the sea floor. Performance deterioration under extreme and unmodeled disturbances is also illustrated.