This paper presents the design and simulation of an indirect adaptive robust controller (IARC) for the rotatory drilling motion used in oil and gas exploration operations. To eliminate drill string vibrations, such as stick-slip, and achieve better control of drill bit rotating motion, an IARC controller was designed to compensate nonlinear friction torque directly and address system uncertainties during drilling. Simulation results are presented to illustrate the effectiveness of the designed IARC controller.
- Dynamic Systems and Control Division
Indirect Adaptive Robust Controller Design for Drilling Rotary Motion Control
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Bu, F, & Dykstra, J. "Indirect Adaptive Robust Controller Design for Drilling Rotary Motion Control." Proceedings of the ASME 2014 Dynamic Systems and Control Conference. Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems. San Antonio, Texas, USA. October 22–24, 2014. V001T09A001. ASME. https://doi.org/10.1115/DSCC2014-5926
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