Robust Adaptive Control of an Offshore Ocean Thermal Energy Conversion System

Boundary control strategy is developed to analyze the vibration problem of the offshore ocean thermal energy conversion (OTEC) system as well as to constrain the bottom tension and top motion. To provide an accurate dynamic behavior for the OTEC system, this distributed parameter system is modeled and formulated with a governing equation and boundary conditions (PDE-ODEs model). Two robust adaptive boundary controllers are designed and disposed at the endpoints of the system, and the stability of the controlled system under unknown disturbances is achieved. After selecting the relevant parameters appropriately, the offset of the offshore OTEC system can be suppressed to equilibrium position. Finally, the effectiveness of the proposed control is illustrated by simulation.

[1]  Fumitoshi Matsuno,et al.  Simple Boundary Cooperative Control of Two One-Link Flexible Arms for Grasping , 2009, IEEE Transactions on Automatic Control.

[2]  Huai-Ning Wu,et al.  Static output feedback control via PDE boundary and ODE measurements in linear cascaded ODE-beam systems , 2014, Autom..

[3]  Ruifeng Li,et al.  Interface Design of a Physical Human–Robot Interaction System for Human Impedance Adaptive Skill Transfer , 2018, IEEE Transactions on Automation Science and Engineering.

[4]  Keum Shik Hong,et al.  Active vibration control of a flexible rod moving in water: Application to nuclear refueling machines , 2018, Autom..

[5]  Lacra Pavel,et al.  Lyapunov-Based Boundary Control for A Class of Hyperbolic Lotka–Volterra Systems , 2012, IEEE Transactions on Automatic Control.

[6]  Guo-Xing Wen,et al.  Observer-Based Adaptive Backstepping Consensus Tracking Control for High-Order Nonlinear Semi-Strict-Feedback Multiagent Systems , 2016, IEEE Transactions on Cybernetics.

[7]  Bin Xu,et al.  Composite Learning Control of Flexible-Link Manipulator Using NN and DOB , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[8]  Andrea T. Gill,et al.  Status of Hawaii's ocean energy projects and permitting regime , 2011, OCEANS'11 MTS/IEEE KONA.

[9]  Huai-Ning Wu,et al.  Disturbance Rejection Fuzzy Control for Nonlinear Parabolic PDE Systems via Multiple Observers , 2016, IEEE Transactions on Fuzzy Systems.

[10]  Jie Zhang,et al.  Solenoid model for visualizing magnetic flux leakage testing of complex defects , 2018, NDT & E International.

[11]  Fumitoshi Matsuno,et al.  Boundary cooperative control by flexible Timoshenko arms , 2017, Autom..

[12]  Yu Liu,et al.  Modelling and control for a class of axially moving nonuniform system , 2017, Int. J. Syst. Sci..

[13]  Miroslav Krstic,et al.  Stabilization of linearized 2D magnetohydrodynamic channel flow by backstepping boundary control , 2008, Syst. Control. Lett..

[14]  Huai-Ning Wu,et al.  Guaranteed cost fuzzy state observer design for semilinear parabolic PDE systems under pointwise measurements , 2017, Autom..

[15]  Guang Li,et al.  Linear Optimal Noncausal Control of Wave Energy Converters , 2019, IEEE Transactions on Control Systems Technology.

[16]  Shuzhi Sam Ge,et al.  Vibration Control of a Nonuniform Wind Turbine Tower via Disturbance Observer , 2015, IEEE/ASME Transactions on Mechatronics.

[17]  Lijie Wang,et al.  Adaptive Fuzzy Control for Nonstrict-Feedback Systems With Input Saturation and Output Constraint , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[18]  K. D. Do,et al.  Stochastic boundary control design for extensible marine risers in three dimensional space , 2017, Autom..

[19]  Miroslav Krstic,et al.  Backstepping boundary control for first order hyperbolic PDEs and application to systems with actuator and sensor delays , 2007, CDC.

[20]  B. V. E. Howa,et al.  Active control of flexible marine risers , 2008 .

[21]  C. L. Philip Chen,et al.  Adaptive Neural Control for Dual-Arm Coordination of Humanoid Robot With Unknown Nonlinearities in Output Mechanism , 2015, IEEE Transactions on Cybernetics.

[22]  Xuefang Li,et al.  D-type anticipatory iterative learning control for a class of inhomogeneous heat equations , 2013, Autom..

[23]  Fumitoshi Matsuno,et al.  Energy-based control of axially translating beams: varying tension, varying speed, and disturbance adaptation , 2005, IEEE Transactions on Control Systems Technology.

[24]  Dongpu Cao,et al.  Parallel driving in CPSS: a unified approach for transport automation and vehicle intelligence , 2017, IEEE/CAA Journal of Automatica Sinica.

[25]  Han-Xiong Li,et al.  Fuzzy Boundary Control Design for a Class of Nonlinear Parabolic Distributed Parameter Systems , 2014, IEEE Transactions on Fuzzy Systems.

[26]  Shaocheng Tong,et al.  Neural Network Controller Design for an Uncertain Robot With Time-Varying Output Constraint , 2017, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[27]  Haym Benaroya,et al.  Mechanical Vibration: Analysis, Uncertainties, and Control , 1997 .

[28]  Han-Xiong Li,et al.  Adaptive Optimal Control of Highly Dissipative Nonlinear Spatially Distributed Processes With Neuro-Dynamic Programming , 2015, IEEE Transactions on Neural Networks and Learning Systems.

[29]  Gérard C. Nihous,et al.  Estimates of global Ocean Thermal Energy Conversion (OTEC) resources using an ocean general circulation model , 2013 .

[30]  Wei Guo,et al.  The strong stabilization of a one-dimensional wave equation by non-collocated dynamic boundary feedback control , 2009, Autom..

[31]  Fan Zhang,et al.  Impact Dynamic Modeling and Adaptive Target Capturing Control for Tethered Space Robots With Uncertainties , 2016, IEEE/ASME Transactions on Mechatronics.

[32]  K. Ng,et al.  Using the condenser effluent from a nuclear power plant for Ocean Thermal Energy Conversion (OTEC) , 2009 .

[33]  Wilfried van Sark,et al.  A New Hybrid Ocean Thermal Energy Conversion-Offshore Solar Pond (OTEC-OSP) Design: A Cost Optimization Approach , 2008, Renewable Energy.

[34]  G. Nihous.  An estimate of Atlantic Ocean thermal energy conversion (OTEC) resources , 2007 .

[35]  G. C. Nihous.  Synchronous power output fluctuations for an experimental open-cycle OTEC plant , 1997 .

[36]  Zhi Liu,et al.  Adaptive Visual Tracking Control for Manipulator With Actuator Fuzzy Dead-Zone Constraint and Unmodeled Dynamic , 2015, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[37]  Miroslav Krstic,et al.  Arbitrary Decay Rate for Euler-Bernoulli Beam by Backstepping Boundary Feedback , 2009, IEEE Transactions on Automatic Control.

[38]  Jie Zhang,et al.  PDP: parallel dynamic programming , 2017, IEEE CAA J. Autom. Sinica.

[39]  M. Rafiuddin Ahmed,et al.  Experimental studies on a closed cycle demonstration OTEC plant working on small temperature difference , 2013 .

[40]  Wei He,et al.  Modeling and vibration control of a flexible aerial refueling hose with variable lengths and input constraint , 2017, Autom..

[41]  Roger Skjetne,et al.  Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory , 2005, Autom..

[42]  Kaixiang Peng,et al.  Adaptive Neural Control for Robotic Manipulators With Output Constraints and Uncertainties , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[43]  B. Taylor,et al.  OTEC cold-water pipe research , 1985 .

[44]  Beibei Ren,et al.  UDE-based robust boundary control for an unstable parabolic PDE with unknown input disturbance , 2018, Autom..

[45]  C. L. Philip Chen,et al.  A survey of human-centered intelligent robots: issues and challenges , 2017, IEEE/CAA Journal of Automatica Sinica.

[46]  Shuzhi Sam Ge,et al.  Constrained Multilegged Robot System Modeling and Fuzzy Control With Uncertain Kinematics and Dynamics Incorporating Foot Force Optimization , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[47]  Abdesselem Boulkroune,et al.  Adaptive Fuzzy Backstepping Tracking Control for Strict-Feedback Systems With Input Delay , 2017, IEEE Transactions on Fuzzy Systems.

[48]  Y. Matsuda,et al.  Simulation model of evaporator and separator in OTEC plant using Uehara cycle for liquid level control , 2012, 2012 Proceedings of SICE Annual Conference (SICE).

[49]  Li Wang,et al.  Dynamic Stability Analysis of a Grid-Connected Solar-Concentrated Ocean Thermal Energy Conversion System , 2010, IEEE Transactions on Sustainable Energy.

[50]  R. Yeh,et al.  Maximum output of an OTEC power plant , 2005 .

[51]  Khac Duc Do,et al.  Modeling and boundary control of translational and rotational motions of nonlinear slender beams in three-dimensional space , 2017 .

[52]  Minoru Sasaki,et al.  Contact-Force Control of a Flexible Timoshenko Arm in Rigid/Soft Environment , 2017, IEEE Transactions on Automatic Control.

[53]  M. Krstić,et al.  Sampled-data boundary feedback control of 1-D parabolic PDEs , 2017, Autom..

[54]  Bin Xu,et al.  Composite Learning Finite-Time Control With Application to Quadrotors , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[55]  Shuai Yang,et al.  Experimental investigation on an ammonia-water based ocean thermal energy conversion system , 2013 .

[56]  Beibei Ren,et al.  Stabilization and Gevrey Regularity of a Schrödinger Equation in Boundary Feedback With a Heat Equation , 2012, IEEE Transactions on Automatic Control.

[57]  Miroslav Krstic,et al.  Backstepping boundary control for first order hyperbolic PDEs and application to systems with actuator and sensor delays , 2007, 2007 46th IEEE Conference on Decision and Control.

[58]  Shuzhi Sam Ge,et al.  Top Tension Control of a Flexible Marine Riser by Using Integral-Barrier Lyapunov Function , 2015, IEEE/ASME Transactions on Mechatronics.

[59]  Ning Wang,et al.  Control design for a vibrating flexible marine riser system , 2017, J. Frankl. Inst..

[60]  Chenguang Yang,et al.  Neural-Learning-Based Telerobot Control With Guaranteed Performance , 2017, IEEE Transactions on Cybernetics.

[61]  Changyin Sun,et al.  Boundary Vibration Control of Variable Length Crane Systems in Two-Dimensional Space With Output Constraints , 2017, IEEE/ASME Transactions on Mechatronics.

[62]  Han-Xiong Li,et al.  Stochastically exponential stability and stabilization of uncertain linear hyperbolic PDE systems with Markov jumping parameters , 2012, Autom..

[63]  Shuzhi Sam Ge,et al.  Unified iterative learning control for flexible structures with input constraints , 2018, Autom..

[64]  Zhijia Zhao,et al.  Robust output feedback stabilization for a flexible marine riser system. , 2017, ISA transactions.

[65]  Beibei Ren,et al.  Sliding mode control to stabilization of cascaded heat PDE-ODE systems subject to boundary control matched disturbance , 2015, Autom..

[66]  Amit Bhatia,et al.  Optimal use of waste heat of condenser of thermal power plant , 2010, 2010 The 2nd International Conference on Computer and Automation Engineering (ICCAE).

[67]  George Papadakis,et al.  Heat resources and organic Rankine cycle machines , 2014 .

[68]  T. Sugi,et al.  Controller design for OTEC experimental pilot plant based on nonlinear separation control , 2004, SICE 2004 Annual Conference.

[69]  Keng Peng Tee,et al.  Control of fully actuated ocean surface vessels using a class of feedforward approximators , 2006, IEEE Transactions on Control Systems Technology.

[70]  Miroslav Krstic,et al.  Nonlinear stabilization through wave PDE dynamics with a moving uncontrolled boundary , 2016, Autom..

[71]  Changyin Sun,et al.  Iterative Learning Control for a Flapping Wing Micro Aerial Vehicle Under Distributed Disturbances , 2019, IEEE Transactions on Cybernetics.

[72]  Fan Zhang,et al.  Dexterous Tethered Space Robot: Design, Measurement, Control, and Experiment , 2017, IEEE Transactions on Aerospace and Electronic Systems.

[73]  Jun Shi,et al.  Adaptive neural network control of a flexible string system with non-symmetric dead-zone and output constraint , 2017, Neurocomputing.