Inyang, Isonguyo J.Whidborne, James F.Bayliss, Martin T.2018-03-272018-03-272017-10-18Isonguyo J. Inyang, James F. Whidborne, Martin T. Bayliss. Directional drilling attitude control with input disturbances and feedback delay. IFAC-PapersOnLine, Volume 50, Issue 1, July 2017, Pages 1409-14142405-8963https://doi.org/10.1016/j.ifacol.2017.08.246http://dspace.lib.cranfield.ac.uk/handle/1826/13123This paper presents a general approach for the attitude control of directional drilling tools for the oil and gas industry. It extends the recent work where a kinematic bilinear model of the directional drilling tool was developed and used as the basis for Constant Build Rate (CBR) controller design. The CBR controller in combination with a modified Smith Predictor (SP) is implemented for the attitude control of the directional drilling. The results of a transient simulation of the proposed modified SP-CBR controller are presented and compared with that from the CBR controller of the earlier studies. It is shown that the modified SP-CBR controller significantly reduces the adverse effects of input disturbances and time delay on the feedback measurements with respect to stability and performance.enAttribution-NonCommercial-NoDerivatives 4.0 InternationalDirectional DrillingAttitude ControlBilinearFeedback DelayInput DisturbancesArticle