TY - JOUR
T1 - Adaptive output-feedback control of torsional vibration in off-shore rotary oil drilling systems
AU - Wang, Ji
AU - Tang, Shu Xia
AU - Krstic, Miroslav
N1 - Funding Information:
In this paper, we present adaptive backstepping control design for a wave PDE system where an anti-damping term with an unknown coefficient and a harmonic disturbance with unknown amplitudes are at the second-order-in-time boundary which is anti-collocated with the control input. The asymptotic convergence of the ODE state, i.e., the uncontrolled boundary states of the wave PDE, and boundedness of all states in the closed-loop system are proved by using Lyapunov analysis. The simulation results verify the effectiveness of the adaptive controller which is used in torsional vibration suppression for an oil drilling system with uncertain stick–slip instability and disturbances at the drilling bit. The proposed output feedback adaptive controller also can be applied in vibration control of a cable elevator ( Wang, Koga, Pi and Krstic, 2018 ) where the cage is subject to an uncertain cage-guide friction force and an uncertain harmonic airflow disturbance. In the future work, the control design would be extended to the Saint-Venant model ( Diagne, Diagne, Tang and Krstic, 2017; Diagne, Tang, Diagne and Krstic, 2017 ), the representation of which in Riemann coordinates is coupled first-order hyperbolic PDEs including some unstable source terms in the PDE domain ( Di Meglio et al., 2018; Di Meglio, Vazquez, & Krstic, 2013; Wang, Krstic and Pi, 2018; Wang, Pi and Krstic, 2018 ). Ji Wang received the Ph.D. degree in Mechanical Engineering in 2018 from Chongqing University, Chongqing, China. He is currently a Postdoctoral Scholar-Employee in the Department of Mechanical and Aerospace Engineering at University of California, San Diego, La Jolla, CA, USA. His research interests include modeling and control of distributed parameter systems, active disturbance rejection control and adaptive control, with applications in cable-driven mechanisms. Shu-Xia Tang received her Ph.D. in Mechanical Engineering in 2016 from the Department of Mechanical & Aerospace Engineering, University of California, San Diego, USA. She is currently an assistant professor at the Department of Mechanical Engineering, Texas Tech University, USA. She is an IEEE senior member and is an IEEE CSS (Control Systems Society) Technical Committee member on Distributed Parameter Systems. She serves as an associate editor of Journal of Control, Automation and Electrical Systems and as an IEEE CSS Conference Editorial Board member. Her main research interests are stability analysis, estimation and control design of distributed parameter systems. Miroslav Krstic is Distinguished Professor of Mechanical and Aerospace Engineering, holds the Alspach endowed chair, and is the founding director of the Cymer Center for Control Systems and Dynamics at UC San Diego. He also serves as Senior Associate Vice Chancellor for Research at UCSD. As a graduate student, Krstic won the UC Santa Barbara best dissertation award and student best paper awards at CDC and ACC. Krstic has been elected Fellow of seven scientific societies – IEEE, IFAC, ASME, SIAM, AAAS, IET (UK), and AIAA (Assoc. Fellow) – and as a foreign member of the Serbian Academy of Sciences and Arts and of the Academy of Engineering of Serbia. He has received the SIAM Reid Prize, ASME Oldenburger Medal, Nyquist Lecture Prize, Paynter Outstanding Investigator Award, Ragazzini Education Award, IFAC Nonlinear Control Systems Award, Chestnut textbook prize, Control Systems Society Distinguished Member Award, the PECASE, NSF Career, and ONR Young Investigator awards, the Schuck (’96 and ’19) and Axelby paper prizes, and the first UCSD Research Award given to an engineer. Krstic has also been awarded the Springer Visiting Professorship at UC Berkeley, the Distinguished Visiting Fellowship of the Royal Academy of Engineering, and the Invitation Fellowship of the Japan Society for the Promotion of Science. He serves as Editor-in-Chief of Systems & Control Letters and has been serving as Senior Editor in Automatica and IEEE Transactions on Automatic Control, as editor of two Springer book series, and has served as Vice President for Technical Activities of the IEEE Control Systems Society and as chair of the IEEE CSS Fellow Committee. Krstic has coauthored thirteen books on adaptive, nonlinear, and stochastic control, extremum seeking, control of PDE systems including turbulent flows, and control of delay systems.
Publisher Copyright:
© 2019 Elsevier Ltd
PY - 2020/1
Y1 - 2020/1
N2 - Motivated by an engineering application of torsional vibration suppression of off-shore oil drilling, we design an adaptive output-feedback controller for a one-dimensional wave partial differential equation (PDE) system, where an anti-damping term with an unknown coefficient and a general harmonic disturbance with unknown amplitudes exist in the bit, which is modeled as a second-order-in-time boundary. The control input anti-collocated with this boundary subject to uncertainty, is designed by using the adaptive control method and infinite-dimensional backstepping technique. The asymptotic convergence to zero of the uncontrolled boundary states, i.e., the oscillations of the angular displacement and velocity at the bit, and the boundedness of all states in the closed-loop system, are proved via Lyapunov analysis. The effectiveness of the proposed adaptive controller is verified via numerical simulation. The results also can be applied to other applications, such as vibration control of cable elevators with uncertain cage-guide friction and cage disturbances.
AB - Motivated by an engineering application of torsional vibration suppression of off-shore oil drilling, we design an adaptive output-feedback controller for a one-dimensional wave partial differential equation (PDE) system, where an anti-damping term with an unknown coefficient and a general harmonic disturbance with unknown amplitudes exist in the bit, which is modeled as a second-order-in-time boundary. The control input anti-collocated with this boundary subject to uncertainty, is designed by using the adaptive control method and infinite-dimensional backstepping technique. The asymptotic convergence to zero of the uncontrolled boundary states, i.e., the oscillations of the angular displacement and velocity at the bit, and the boundedness of all states in the closed-loop system, are proved via Lyapunov analysis. The effectiveness of the proposed adaptive controller is verified via numerical simulation. The results also can be applied to other applications, such as vibration control of cable elevators with uncertain cage-guide friction and cage disturbances.
KW - Adaptive output-feedback control
KW - Anti-collocated disturbance
KW - Backstepping
KW - Oil drilling
KW - Wave PDE
UR - http://www.scopus.com/inward/record.url?scp=85075415880&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2019.108640
DO - 10.1016/j.automatica.2019.108640
M3 - Article
AN - SCOPUS:85075415880
VL - 111
JO - Automatica
JF - Automatica
SN - 0005-1098
M1 - 108640
ER -