Boundary control of a flexible marine installation system

In this paper, boundary control for a flexible marine installation system is developed to position the subsea payload to the desired set-point and suppress the cable's vibration. With the proposed boundary control, uniform boundedness under ocean disturbance can be ensured. The steady state error between the boundary payload and the desired position is proven to converge to a small neighborhood of zero by appropriately choosing design parameters. Simulations are provided to illustrate the applicability and effectiveness of the proposed control.