Decentralized overlapping control design with application to rotary drilling system

Abstract

The main objective of this paper is the development of overlapping decomposition strategy for con-troller design of rotary drilling systems based on the state feedback technique. The lamped modelof the system has been considered, Graph-based representation has been used to rearrange thestates of the model, and then a new model has been decomposed into subsystems after analyzingthe interconnection terms. The expansion–contraction principle, combined with Lyapunov theory,is used to investigate the global stability of the decomposed system so that controllability of thedesigned controller is guaranteed and its robustness is improved. Moreover, the designed strategyhas been validated with high-frequency mode stick-slip vibrations data measured in an operationalrotary drilling system of an exploration well drilled in an Algerian hydrocarbon field