Adaptive fixed-time fault-tolerant tracking control for rotary steerable drilling tool systems

Abstract

In this paper, the problem of adaptive fixed-time fault-tolerant tracking control is investigated for rotary steerable drilling tool systems (RSDTSs). Markov jump system (MJS) is used to describe the RSDTS with varying parameters which are induced by the changing environment. By employing the smooth projection operator technique, adaptive laws are established to estimate the faults. Based on the fault compensation strategy, a new adaptive fixed-time fault-tolerant tracking control scheme is proposed to ensure that the RSDTS is globally stochastically practically fixed-time stable. In addition, to reduce the computational burden in the backstepping framework, the derivatives of the virtual control are directly derived using command filters. Finally, the experiment performed on the rotary steerable drilling tool systems prototype is exploited to demonstrate the feasibility and effectiveness of the proposed method.