L1 adaptive output regulator design with application to Managed Pressure Drilling

Mahdianfar, Hessam; Hovakimyan, Naira; Pavlov, Alexey; Aamo, Ole Morten

doi:10.1016/j.jprocont.2016.02.004

Cited by 19 publications

(13 citation statements)

References 16 publications

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“…Efforts on attenuating heave-induced pressure oscillations have so far focused on controlling the opening of the topside choke (Aamo, 2013;Albert, Aamo, Godhavn, & Pavlov, 2015;Landet et al, 2013;Mahdianfar, Hovakimyan, Pavlov, & Aamo, 2016;Strecker & Aamo, 2017b, 2017c. Since circulation usually needs to be stopped when extending the drillstring, the opening of the topside choke is basically the only control input available without additional instrumentation.…”

Section: Heave-induced Pressure Oscillationsmentioning

confidence: 99%

Attenuating heave-induced pressure oscillations in offshore drilling by downhole flow control

Strecker

Aamo

2019

IFAC Journal of Systems and Control

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One of the challenges when applying managed pressure drilling (MPD) offshore on a floating rig is the wave-induced heaving motion of the rig. During drillstring extensions, the drillstring is rigidly attached to the rig and follows the rig's heaving motion. This induces pressure oscillations in the well that can violate pressure margins, in particular in rough conditions and when margins are tight. In order to enable drilling operations under such conditions, the pressure oscillations are to be attenuated by use of a controllable valve installed in the bottomhole assembly (BHA) at the bottom of the drillstring. The subject of this paper is the controller design for the valve flow based on measurements of the BHA movement and downhole pressure. Using a frequency-domain approach, the control law is designed to, in case of downwards BHA movement, reduce the valve flow to compensate the mud being displaced by the BHA and the flow due to mud clinging to the moving drillstring. Controlling the valve flow in such a manner creates large differential pressures over the valve that can potentially destabilize the BHA motion, which must be taken into consideration in the control design. Stability and performance of the closed-loop system are verified in simulations using a high-fidelity model of the drilling mud and elastic drillstring.

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Section: Heave-induced Pressure Oscillationsmentioning

confidence: 99%

Attenuating heave-induced pressure oscillations in offshore drilling by downhole flow control

Strecker

Aamo

2019

IFAC Journal of Systems and Control

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“…[23], [24]) have been successfully employed in real applications [11], [25]- [30], the literature directly concerned with output-feedback problems is less extensive. L 1 output-feedback solutions for Single-Input Single-Output (SISO) systems can be found in [31]- [33], and can be easily extended to square MIMO systems [34]. An adaptive control solution for underactuated MIMO systems is presented in [35], where a suitably defined state decomposition is introduced, which enables standard L 1 adaptive output feedback controllers to tackle underactuated systems.…”

Section: Introductionmentioning

confidence: 99%

“…Consider the closed-loop reference system given in(33) and(34) and design constraints defined via (17) -(27).…”

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confidence: 99%

$\mathcal {L}_1$ Adaptive Output Feedback for Nonsquare Systems With Arbitrary Relative Degree

Lee

Cichella

Hovakimyan

2021

IEEE Trans. Automat. Contr.

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This paper considers the problem of outputfeedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right interactor matrix and a suitably defined projection matrix. A state-output predictor, a low-pass filter, and adaptive laws are introduced that achieve output tracking of a desired reference signal. It is shown that the proposed control strategy guarantees closed-loop stability with arbitrarily small steady-state errors. The transient performance in the presence of non-zero initialization errors is quantified in terms of decreasing functions. Rigorous mathematical analysis and illustrative examples are provided to validate the theoretical claims.Index Terms-Adaptive systems, nonlinear systems, adaptive control, non-square systems.• (A m ,B) is controllable, and (C mB ) is full rank. • If M (s) has no unstable zeros, thenM (s) does not possess unstable zeros.Proof. The proof of Corollary 1 is given in the Appendix. Remark 2. If (C m B m ) is full rank, then Z(s) = I m . Moreover, the rank condition on (C m B m ) is associated with the vector relative degree of MIMO systems. It can be easily shown that (C m B m ) is full rank, if and only if the vector relative degree is 1 m = [1, . . . , 1] ∈ R m . For systems with high relative degrees, (C m B m ) has rank deficiency.

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“…In this paper, we consider the problem of rejecting heaveinduced pressure oscillations using the topside choke for actuation and measurements that are available on the rig. This problem has been considered in several papers, using a range of control methods for finite dimensional systems [4], [5], [6]. More relevant to the present study is [7], in which results from [8] were exploited to develop a backstepping controller to track a reference pressure at the bottom of the well.…”

Section: Introductionmentioning

confidence: 99%

Rejecting heave-induced pressure oscillations in a semilinear hyperbolic well model

Strecker

Aamo

2017

2017 American Control Conference (ACC)

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Abstract-In this paper, we apply recent results on the output feedback control of 2 × 2 semilinear systems to the problem of rejecting heave-induced pressure oscillations in offshore drilling. The well is modeled as a transmission line with nonlinear friction, with both actuation and measurement restricted to one boundary. The heave motion is represented by disturbance terms entering both inside the domain and at the uncontrolled boundary. We construct an output feedback controller to track a reference pressure at one location in the well. The controller performance is demonstrated in simulations.

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L1 adaptive output regulator design with application to Managed Pressure Drilling

Cited by 19 publications

References 16 publications

Attenuating heave-induced pressure oscillations in offshore drilling by downhole flow control

Attenuating heave-induced pressure oscillations in offshore drilling by downhole flow control

$\mathcal {L}_1$ Adaptive Output Feedback for Nonsquare Systems With Arbitrary Relative Degree

Rejecting heave-induced pressure oscillations in a semilinear hyperbolic well model

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