Three-Dimensional Vibrations Control Design For A Single Point Mooring Line System With Input Saturation

This paper presents a boundary control design for a single point mooring line system with input saturation in three-dimensional (3D) space. The system is described by some partial differential equations (PDEs) and ordinary differential equations (ODEs). The control strategy proposed in this paper at the tip payload of the mooring line and the control design uses Lyapunov's direct method (LDM) to ensure the stability of the system. In order to compensate the input saturation, we propose an auxiliary system. With the proposed boundary control, the mooring system's uniform boundedness under the effect of external environment is obtained. The presented boundary control is implementable with feasible equipment because all information in the system can be gained and calculated through various sensors or by applying a backward difference algorithm. Simulation results are provided to prove that the controller is effective in regulating the vibration of the system.