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Authors
Choux, Martin; Hovland, Geir; Blanke, Mogens

Digital Object Identifier (DOI)
10.3182/20120531-2-NO-4020.00046

Page Numbers:
310-315

Index Terms
Autonomous systems/robotics; Automated Drilling: Managed pressure drilling, Dualgradient systems, Directional drilling, etc.

Abstract
Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the necessary accuracy. The paper compares the performance of two variants of an adaptive backstepping tracking controller with earlier results. The new control architecture is analysed and enhanced tracking performance is demonstrated when including the extended friction model. The complexity of the backstepping procedure is signicantly reduced due to the cascade structure. Hence, the proposed control structure is better suited to real-time implementation.

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