Feedback control method to suppress stick-slip in drill-strings featuring delay and actuation constraints

Abstract In this work, performance of a modified-integral resonant controller with integral tracking is investigated numerically under the effects actuator delay and actuation constraints. Actuation constraints naturally limit performance, so much that it can cause instabilities. A 2-DOF drill-string m nonlinear bit–rock interactions analysed. The aforementioned control scheme implemented on system analysed found to be highly effective at coping these limitations. then compared sliding-mode shows superior in many regimes operation. Lastly, detail by varying its gains as well parameters, most notably delay.