Indirect Adaptive Robust Controller Design for Drilling Rotary Motion Control

This paper presents the design and simulation of an indirect adaptive robust controller (IARC) for the rotatory drilling motion used in oil and gas exploration operations. To eliminate drill string vibrations, such as stick-slip, and achieve better control of drill bit rotating motion, an IARC controller was designed to compensate nonlinear friction torque directly and address system uncertainties during drilling. Simulation results are presented to illustrate the effectiveness of the designed IARC controller.