1adaptive controller for a rotary steerable system

Hui Sun, Zhiyuan Li, Naira Hovakimyan, M Tamer Basar, Geoff Downton

Research output: Chapter in Book/Report/Conference proceedingConference contribution


The downhole directional steering system captures mechanical connections and interactions between different parts. Due to the spatial delays, parametric uncertainties and modeling inaccuracies in the system, the closed-loop stability and robust performance are challenging problems to address. Towards this goal, the current paper presents an ℒ1 adaptive controller which drives the output of the system, i.e. the borehole propagation angle, according to the operator's commands in the presence of uncertainties and disturbances. Specifically, the paper considers the Explicit Force, Finitely Sharp, Zero Mass (EFFSZM) model with spatial delays in the state. The closed-loop system response is shown to have uniform transient performance bounds with respect to a bounded reference system. The performance bounds can be improved by increasing the adaptation rate. The predictable response to the commands is demonstrated in simulations.

Original languageEnglish (US)
Title of host publication2011 IEEE International Symposium on Intelligent Control, ISIC 2011
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)9781457711046
StatePublished - 2011
Event2011 IEEE International Symposium on Intelligent Control, ISIC 2011 - Denver, CO, United States
Duration: Sep 28 2011Sep 30 2011

Publication series

NameIEEE International Symposium on Intelligent Control - Proceedings


Other2011 IEEE International Symposium on Intelligent Control, ISIC 2011
Country/TerritoryUnited States
CityDenver, CO

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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