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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Adaptive Control for Directional Drilling Systems with Delay and Parameter Uncertainty
verfasst von : Arief B. Koesdwiady, Sami Elferik, Fakhri Karray
Erschienen in: Robot Intelligence Technology and Applications 4
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Abstract
In this paper, an adaptive tracking control of a directional drilling system subject to state delays and parameter uncertainties is investigated. The Explicit Force, Finitely Sharp, Zero Mass (EFFSZM) system is used to represent a directional drilling system. Invariance and Immersion (I&I) adaptive control approach is used to ensure the EFFSZM system to follow a set of predefined path autonomously. The performance of the proposed approach is compared to the one \(\mathcal {L}_1\) adaptive control under the identical condition. To observe and validate the performance of the proposed approach, several simulation scenarios are conducted. The results show that both the controllers are able to stabilize the system in the presence of parameter uncertainties while maintaining the trajectory tracking error minimum.