Xu-yang Wang

Output Feedback Control for an Active Heave Compensation System

To reduce the adverse effect of the unexpected vessel heave motion on the response of underwater payloads, a control strategy is presented for an active heave compensation system using an electro-hydraulic system driven by a double-rod actuator. An adaptive observer is designed to estimate the unmeasured system states and the unmodeled forces. An observer is also proposed to asymptotically reconstruct the vessel motion. By using these observers, the Lyapunov’s direct method and backstepping technique, an output feedback controller is proposed to force the heave compensation error to converge to a small bounded area around the origin. Simulations illustrate the effectiveness of the proposed control scheme.