Modeling and Adaptive Boundary Robust Control of Active Heave Compensation Systems

Heave compensation systems are essential for operations’ safety, reliability, and efficiency in harsh offshore environments. This paper investigates the vibration suppression problem of a type deep-sea robot with length time variation operating environments active heave systems, where hydraulic compensators implement actuators input nonlinearity, model coupling, unknown nonlinear disturbances. A robust adaptive output feedback control scheme based on backstepping method is designed to eliminate deep-ocean vibration, law handles system parameter uncertainty. Meanwhile, disturbance observer (NDO) introduced overcome effects random disturbances coupling. In addition, stability whole proved according Lyapunov’s theory, shown be feasible by theoretical analysis. Finally, comparative simulation study was conducted validate effectiveness proposed controller.