Modeling and control design for a multi-cable mooring system

In this paper, modeling and control are investigated for a multi-cable mooring system. The mathematical model of the system is described as partial differential equations (PDEs) via the Hamilton's principle. Control is designed at the top boundary of the mooring lines based on the Lyapunov's direct method to suppress the vessel's vibrations. Adaptive control is developed to handle the system parametric uncertainties. With the proposed boundary control, uniform boundedness of the system is achieved. Simulations are carried out to verify the effectiveness of the proposed control.