Observer Designs for Experimental Non-Smooth and Discontinuous Systems

Doris, A.; Juloski, A.L.; Mihajlović, Nenad; Heemels, W.P.M.H.; Wouw, Nathan van de; Nijmeijer, H.

doi:10.1109/tcst.2008.917236

Cited by 45 publications

(34 citation statements)

References 32 publications

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“…In real practice, such a measurement is difficult due to delays and noise in downhole and an observer-based controller is always preferable, e.g. [25,26]. However as this is outside of the scope of this paper, such results will be reported in a separated publication in due course.…”

Section: Sliding-mode Controlmentioning

confidence: 98%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. AbstractStabilization of multibody drill-strings which exhibit stick-slip oscillations is studied in this paper from the point of view of underactuated system. The model has one control torque input acting on the rotary table from the land surface and multi-degree-of-freedom downhole parts to be controlled. Three motion regimes of the model including bit sticking, stick-slip oscillation, and rotating at a constant speed are identified and their equilibria are analyzed accordingly. The control objective of the system is to avoid the undesired bit sticking and stick-slip oscillation while tracking a desired angular velocity. Three slidingmode controllers are studied for the drill-string with estimated physical parameters. The stabilities of the proposed controllers are proved by using the Lyapunov direct method ensuring that any trajectory of the system can reach and stays thereafter on the predesigned sliding surface where the desired equilibrium is asymptotically stable. Extensive simulation results are given to demonstrate the effectiveness of the proposed controllers and their robustness to parametric uncertainties.

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Section: Sliding-mode Controlmentioning

confidence: 98%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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“…We employ an observer-based controller synthesis strategy for Lur'e-type systems with discontinuities as in [4], [21]. In these previous works the controller and observer were designed for a drill-string model with a single flexibility mode and with the assumption on the availability of down-hole measurements.…”

Section: Design Of An Output-feedback Controllermentioning

confidence: 99%

“…The observer design proposed here is inspired by that in [21]. We propose the following observer, with measured outputỹ = Cξ (ỹ ∈ R k and C ∈ R n×k ):…”

Section: B Observer Designmentioning

confidence: 99%

Observer-based output-feedback control to eliminate torsional drill-string vibrations

Vromen

Wouw

Doris³

et al. 2014

53rd IEEE Conference on Decision and Control

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“…The investigation of Lur'e DI systems mainly focuses on the observer design (Brogliato & Heemels, 2009;Doris et al, 2008;Huang, Han, Cai, & Liu, 2011;Huang, Wang, Han, & Cai, 2013;Osorio & Moreno, 2006;Zhang, Han, Zhu, & Zhang, 2014). Osorio and Moreno (2006) designed the observer for the Lur'e DI system by dissipative method, while Doris et al (2008) and Brogliato and Heemels (2009) presented the observer for the system based on passive method.…”

Section: Introductionmentioning

confidence: 99%

Novel observer design method for Lur'e differential inclusion systems

Huang

Gao

2014

International Journal of Systems Science

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This paper proposes a new method to design observers for Lur'e differential inclusion systems. The feature of this method is that the designed observers do not contain any set-valued functions. single-input-single-output (SISO) systems are considered firstly, then the results are extended to multiple-input-multiple-output (MIMO) systems. For MIMO systems, the form of reduced-order observers is also presented. Simulations are given to show these observers work well.

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Observer Designs for Experimental Non-Smooth and Discontinuous Systems

Cited by 45 publications

References 32 publications

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Observer-based output-feedback control to eliminate torsional drill-string vibrations

Novel observer design method for Lur'e differential inclusion systems

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