Modeling and Vibration Control of a Coupled Vessel-Mooring-Riser System

This paper investigates the modeling and vibration control design of a coupled vessel-mooring-riser system. The coupling among the vessel, the mooring lines, and the riser is taken into consideration, and the system is described by a set of partial differential equations and some ordinary differential equations based on energy functions of this system. A control law is proposed at the top boundary of the system to suppress the vibrations of both the mooring lines and the riser. The stability and uniform boundedness of the system under the distributed disturbance are proved via Lyapunov's direct method. Numerical simulations are given to verify the effectiveness of the control law.