Robust output-feedback control of 3D directional drilling systems

O. A. Villarreal Magaña, F. H.A. Monsieurs, Emmanuel M Detournay, N. van de Wouw

Research output: Contribution to journalArticlepeer-review

2 Scopus citations

Abstract

This paper introduces a robust observer-based output feedback control strategy that enables the generation of complex three-dimensional borehole trajectories created by directional drilling systems, while avoiding undesired transient behavior. The model-based controller relies on a set of nonlinear delay differential equations describing the borehole evolution. Herein, only local orientation measurements of the bottom hole assembly of the drilling system are employed. Controller and observer gains are synthesized by optimizing the location of the rightmost pole of the closed-loop dynamics, using a spectral approach for delay differential equations. Moreover, the strategy is extended to cope with the uncertainty of key system parameters in the directional drilling process. The effectiveness of the designed controller is tested in an illustrative benchmark study.

Original languageEnglish (US)
Pages (from-to)5915-5942
Number of pages28
JournalInternational Journal of Robust and Nonlinear Control
Volume28
Issue number18
DOIs
StatePublished - Dec 1 2018

Keywords

  • delay differential equations
  • directional drilling
  • nonlinear systems
  • output-feedback
  • robust control
  • tracking control

Fingerprint Dive into the research topics of 'Robust output-feedback control of 3D directional drilling systems'. Together they form a unique fingerprint.

Cite this