Espen Hauge, Ole Morten Aamo, and John-Morten Godhavn
Tracking Control, Backstepping, Drilling
Two types of tracking controllers are designed for a hydraulic model of a managed pressure drilling system. Both controllers are designed using backstepping. The first controller is based on a simplified model of the drilling process and considers the disturbance as measured. For the second controller, we regard the disturbance as unmeasured and slowly varying. This allows us to introduce its estimate and design an adaptive controller. The first controller gives exponential stability and tunable convergence rate, while the latter gives asymptotic stability. The performance of the tracking controllers is compared.
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