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.