Modeling and Vibration Control for a Moving Beam With Application in a Drilling Riser

In this brief, a boundary control scheme is designed to suppress the vibration for a nonlinear drilling riser system. Considering the varying length, varying tension, and varying speed of the riser, the drilling riser is modeled as a moving Euler-Bernoulli beam system, which is described by a partial differential equation and four ordinary differential equations. Employing the Lyapunov's direct method, boundary control is proposed to guarantee the closed-loop system being exponentially stable. Extensive numerical simulations are presented to show the effectiveness of the proposed control law.