Adaptive Fault-tolerant Control for Trajectory Tracking and Rectification of Directional Drilling

Motivated by the increasing demands on complex borehole trajectories in oil and gas directional drilling, an adaptive fault-tolerant control (AFTC) method for drilling trajectory tracking and rectification of rotary steerable system (RSS) is proposed by adopting actor-critic reinforcement learning (...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2022, Automation, and Systems, 20(1), , pp.334-348
Main Authors: Zhang, Chi, Zou, Wei, Cheng, Ningbo, Gao, Junshan
Format: Article
Language:English
Subjects:
Adaptive control
Boreholes
Control
Differential equations
Drill bits
Drilling
Engineering
Fault tolerance
Mechatronics
Neural networks
Radial basis function
Regular Papers
Robotics
Sliding mode control
Stability analysis
Systems stability
Tracking control
Tracking errors
Trajectory control
Uncertainty
제어계측공학
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Summary:Motivated by the increasing demands on complex borehole trajectories in oil and gas directional drilling, an adaptive fault-tolerant control (AFTC) method for drilling trajectory tracking and rectification of rotary steerable system (RSS) is proposed by adopting actor-critic reinforcement learning (RL) and integral sliding mode control (ISMC) in the presence of system uncertainties and fault signals. Considering a discrete delay differential equation (DDE) with distance delays, uncertainties and fault signals, first we design an online learning framework via actor-critic RL and radial basis function neural network (RBFNN) in order to make drill bit can track pre-designed trajectory accurately and smoothly. Then in order to handle the fault signals problem, we utilize ISMC to eliminate it as weak as possible and rectify drilling trajectory which may derivate original direction caused by it. The system stability and convergence have been analyzed to ensure uniformly ultimately boundedness of tracking errors and fault-tolerant control signals. The proposed method would have wide application potentials in realizing the trajectory tracking and rectification with automatic operations of directional drilling. The effectiveness and accuracy of it are validated by simulation results with ramp and sine input signals.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-020-0923-6