This article involves an adaptive robust barrier-based control of a three-dimensional riser system subject to system uncertainties and output constraints. A barrier-based Lyapunov function and a dynamical online update technique are merged to develop new adaptive robust control schemes for dampening the vibration, compensating for parametric uncertainties, and dealing with the constraints in the system. A rigorous Lyapunov analysis is exploited to guarantee the uniformly bounded stability in the controlled system. Finally, the efficacy of the designed approach is validated via simulation results.

中文翻译：

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受边界位移约束的 3D 柔性立管系统的自适应鲁棒基于障碍的控制

本文涉及受系统不确定性和输出约束的三维立管系统的自适应鲁棒基于障碍的控制。结合基于障碍的 Lyapunov 函数和动态在线更新技术，开发新的自适应鲁棒控制方案，用于抑制振动、补偿参数不确定性和处理系统中的约束。利用严格的 Lyapunov 分析来保证受控系统的一致有界稳定性。最后，通过仿真结果验证了所设计方法的有效性。