Robust gain switching control of constant bottomhole pressure drilling

2017 ◽  
Vol 57 ◽  
pp. 38-49
Author(s):  
Anirudh Nandan ◽  
Syed Imtiaz ◽  
Stephen Butt
Keyword(s):  
Switching Control ◽  
Gain Switching ◽  
Bottomhole Pressure

An Adaptive Evolutionary Switching Control for Robot Manipulators

2005 ◽  
Author(s):  
P. R. Ouyang ◽  
W. J. Zhang ◽  
Madan M. Gupta
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Robot Manipulators ◽  
Industrial Robot ◽  
Switching Control ◽  
Learning Ability ◽  
Pd Control ◽  
Control Approach ◽  
Gain Switching ◽  
Control Scheme

In this paper, a new adaptive switching control approach, called adaptive evolutionary switching PD control (AES-PD), is proposed for iterative operations of robot manipulators. The proposed AES-PD control method is a combination of the feedback of PD control with gain switching and feedforward using the input torque profile obtained from the previous iteration. The asymptotic convergence of the AES-PD control method is theoretically proved using Lyapunov’s method. The philosophy of the switching control strategy is interpreted in the context of the iteration domain to increase the speed of the convergence for trajectory tracking of robot manipulators. The AES-PD control has a simple control structure that makes it easily implemented. The validity of the proposed control scheme is demonstrated for the trajectory tracking of robot manipulators through simulation studies. Simulation results show that the AES-PD control can improve the tracking performance with an increase of the iteration number. The EAS-PD control method has the adaptive and learning ability; therefore, it should be very attractive to applications of industrial robot control.

A new approach to the hydraulic fracture geometric dimensions determination

2017 ◽  
Vol 12 (1) ◽  
pp. 126-134
Author(s):  
A.M. Ilyasov
Keyword(s):  
Exact Solution ◽  
Hydraulic Fracture ◽  
Pressure Gauge ◽  
Hyperbolic Type ◽  
Fluid Injection ◽  
Fracturing Fluid ◽  
New Approach ◽  
Gauge Data ◽  
Bottomhole Pressure ◽  
Half Length

Based on the generalized Perkins-Kern-Nordgren model (PKN) for the development of a hyperbolic type vertical hydraulic fracture, an exact solution is obtained for the hydraulic fracture self-oscillations after terminating the fracturing fluid injection. These oscillations are excited by a rarefaction wave that occurs after the injection is stopped. The obtained solution was used to estimate the height, width and half-length of the hydraulic fracture at the time of stopping the hydraulic fracturing fluid injection based on the bottomhole pressure gauge data.

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