Adaptive Inverse Control of a Vibrating Coupled Vessel-Riser System With Input Backlash

Xiuyu He, Zhijia Zhao, Jinya Su, Qinmin Yang, Dachang Zhu

Research output: Contribution to journalArticlepeer-review

42 Citations (Scopus)


This article involves the adaptive inverse control of a coupled vessel-riser system with input backlash and system uncertainties. By introducing an adaptive inverse dynamics of backlash, the backlash control input is divided into a mismatch error and an expected control command, and then a novel adaptive inverse control strategy is established to eliminate vibration, tackle backlash, and compensate for system uncertainties. The bounded stability of the controlled system is analyzed and demonstrated by exploiting the Lyapunov's criterion. The simulation comparison experiments are finally presented to verify the feasibility and effectiveness of the control algorithm.
Original languageEnglish
Pages (from-to)4706 - 4715
Number of pages10
JournalIEEE Transactions on Systems, Man, and Cybernetics: Systems
Issue number8
Early online date17 Oct 2019
Publication statusPublished - 1 Aug 2021


  • Guangzhou University
  • boundary control
  • flexible risers
  • input backlash
  • vibration control


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