Delayed Recoil Control of Deepwater Drilling Riser Systems via A Non-Small Delay Approach

This paper considers the delayed recoil control problem of deepwater riser systems by a non-small delay approach. A velocity feedback controller with interval-like time-varying input delay is proposed to attain the suppression effect of the frictional disturbance on recoil responses. The main difference from the existing results lies in two aspects: a delayed static output feedback controller is designed with partially measurable velocity information, and a non-small delay method instead of small delay method is attempted for solving the control problem. Some interval-delay-dependent criteria of $H_{\infty}$ performance analysis and control design are derived. Simulation results are given to verify the effectiveness and advantages of the delayed recoil control method.