Observer-Based Adaptive Sliding Mode Compensation Position-Tracking Control for Drilling Tool Attitude Adjustment.

Area of Science:

• Control Engineering
• Robotics
• Mechanical Systems

Background:

• Drilling tool attitude adjustment systems face challenges with model uncertainties and external disturbances.
• Existing control methods may struggle with precise position-tracking and robustness.

Purpose of the Study:

• To develop an adaptive sliding mode control (ASMC) for enhanced drilling tool attitude adjustment.
• To address model uncertainties and improve disturbance suppression capabilities.
• To optimize position-tracking performance, including response time, accuracy, and robustness.

Main Methods:

• Designed an improved radial basis function (RBF) based state observer to approximate model uncertainties.
• Implemented a valve dead-zone compensation controller to minimize control deviation.
• Developed an adaptive sliding mode controller to enhance position-tracking precision and reduce chattering.

Main Results:

• Simulation and experimental results validated the effectiveness of the proposed control approach.
• The state observer successfully estimated model uncertainties and position-tracking errors.
• The adaptive sliding mode control significantly improved position-tracking performance and robustness.

Conclusions:

• The developed adaptive sliding mode control strategy effectively enhances drilling tool attitude adjustment.
• The system demonstrates improved robustness and precision in position-tracking under uncertain conditions.
• The approach offers a viable solution for complex control challenges in drilling operations.