Flatness-Based Control of Torsional-Axial Coupled Drilling Vibrations

International audienceThe main purpose of this contribution is the control of both torsional and axial vibrations occurring along a rotary oil well drilling system. The considered model consists of a system of wave equations with non-linear coupled boundary conditions. We propose a flatness-based control approach to tackle the trajectory tracking problem guaranteeing the suppression of harmful dynamics. The closed loop control design ensures the stability of the error dynamics. Moreover, numerical simulations illustrate the efficiency of the established control laws