When the actual well path deviates from the planned path, it is imperative for a drilling system to take corrective actions. A new trajectory-control model has been developed on the basis of a minimum well-profile-energy criterion to achieve smooth well paths. In this model, the S-shaped returning path from a deviated position to the planned wellbore trajectory is divided into two sections, each of which has its length, inclination-change rate, and azimuth-change rate. Different trajectory-calculation algorithms are used to solve the deviation-correction parameters of the two sections. Results obtained from the simple balanced tangential method, the industry-standard minimum-curvature method, and the more-accurate natural-curve method are consistent with one another. The model was tested by use of wellbore-trajectory simulations of different 2D and 3D well paths. The simulation results show that the new trajectory-control model, in comparison with proportional-integral-derivative (PID) -control and fuzzy-control methods, yields much-smoother wellbore trajectories. Consequently, the new model is promising for the reduction of torque, drag, and friction of the drillstring.Unlike PID-and fuzzy-control methods, which usually require subjective entry of several controller parameters, the new trajectory-control model provides deterministic solutions on the basis of an objective minimum-energy criterion, which represents a significant advantage for the limited computation power of downhole tools. In addition, the settings of constant inclination-and azimuth-change rates in each correction section also provide benefits, such as requiring less-frequent steering, resulting in reduced electric-power consumption and reduced abrasion failure of downhole tools.